DocumentCode :
2693317
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
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
2204
Lastpage :
2210
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5979923
Filename :
5979923
Link To Document :
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