Title :
Dexhand: A Space qualified multi-fingered robotic hand
Author :
Chalon, Maxime ; Wedler, Armin ; Baumann, Andreas ; Bertleff, Wieland ; Beyer, Alexander ; Butterfass, Joerg ; Grebenstein, Markus ; Gruber, Robi ; Hacker, Franz ; Kraemer, Erich ; Landzettel, Klaus ; Maier, Maximilian ; Sedlmayr, Hans-Juergen ; Seitz, Ni
Abstract :
Despite the progress since the first attempts of mankind to explore space, it appears that sending man in space remains challenging. While robotic systems are not yet ready to replace human presence, they provide an excellent support for astronauts during maintenance and hazardous tasks. This paper presents the development of a space qualified multi-fingered robotic hand and highlights the most interesting challenges. The design concept, the mechanical structure, the electronics architecture and the control system are presented throughout this overview paper.
Keywords :
aerospace robotics; dexterous manipulators; humanoid robots; maintenance engineering; Dexhand; control system; electronics architecture; hazardous task; human presence; maintenance task; mechanical structure; robotic system; space qualified multifingered robotic hand; Aerospace electronics; Couplings; Humans; Joints; Robots; Tendons; Torque;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979923