A new anthropomorphic robotic hand

Author

Gaiser, I. ; Schulz, S. ; Kargov, A. ; Klosek, H. ; Bierbaum, A. ; Pylatiuk, C. ; Oberle, R. ; Werner, T. ; Asfour, T. ; Bretthauer, G. ; Dillmann, R.

Author_Institution

Res. Center Karlsruhe (KIT), Inst. for Appl. Comput. Sci., Karlsruhe

fYear

2008

fDate

1-3 Dec. 2008

Firstpage

418

Lastpage

422

Abstract

This paper presents the new robotic FRH-4 hand. The FRH-4 hand constitutes a new hybrid concept of an anthropomorphic five fingered hand and a three jaw robotic gripper. The hand has a humanoid appearance while maintaining the precision of a robotic gripper. Since it is actuated with flexible fluidic actuators, it exhibits an excellent power to weight ratio. These elastic actuators also ensure that the hand is safe for interacting with humans. In order to fully control the joints, it is equipped with position sensors on all of the 11 joints. The hand is also fitted with tactile sensors based on cursor navigation sensor elements, which allows it to have grasping feedback and the ability for exploration.

Keywords

dexterous manipulators; humanoid robots; manipulator dynamics; anthropomorphic five fingered hand; anthropomorphic robotic hand; cursor navigation sensor elements; flexible fluidic actuators; robotic FRH-4 hand; robotic gripper; Actuators; Anthropomorphism; Feedback; Grasping; Grippers; Humanoid robots; Humans; Navigation; Robot sensing systems; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4244-2821-2

Electronic_ISBN

978-1-4244-2822-9

Type

conf

DOI

10.1109/ICHR.2008.4755987

Filename

4755987