Abstract This chapter describes the history of development of multi-fingered hands at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR). It provides an overview of kinematics, actuators, and sensors used in different hands, including DLR Hand I and DLR Hand II, Spacehand and Awiwi Hand, discussing also the lessons learned during the development process and the usage of the hands. A more in-depth description of the most recent DLR development, the Awiwi Hand, is provided to illustrate in detail the challenges of the design of robotic hands, including the consideration of functional aspects that guarantee achieving the required performance in these end effectors.
DLR Multi-fingered Hands
Humanoid Robotics: A Reference ; 481-522
2018-10-10
42 pages
Article/Chapter (Book)
Electronic Resource
English
Structural Synthesis of Multi-Fingered Hands
Online Contents | 2002
|Generalization of human grasping for multi-fingered robot hands
German Aerospace Center (DLR) | 2012
|Operation Capability Analysis and Experiments of Underactuated Compliant Multi-Fingered Hands
BASE | 2020
|Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
BASE | 2012
|Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
BASE | 2012
|