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