The HIT/DLR dexterous hand: Work in progress

X. H. Gao; M. H. Jin; L. Jiang; Z. W. Xie; P. He; L. Yang; Y. W. Liu; R. Wei; H. G. Cai; H. Liu; J. Butterfass; M. Grebenstein; N. Seitz; G. Hirzinger

The HIT/DLR dexterous hand: Work in progress

X. H. Gao
, M. H. Jin
, L. Jiang^*
, Z. W. Xie
, P. He
, L. Yang
, Y. W. Liu
, R. Wei
, H. G. Cai
, H. Liu
, J. Butterfass
, M. Grebenstein
, N. Seitz
, G. Hirzinger

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
German Aerospace Center

Research output: Contribution to journal › Conference article › peer-review

57 Scopus citations

Abstract

This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines (4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.

Original language	English
Pages (from-to)	3164-3168
Number of pages	5
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
State	Published - 2003
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 14 Sep 2003 → 19 Sep 2003

Keywords

Dexterous hand
Multisensory
Serial communication

Cite this

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title = "The HIT/DLR dexterous hand: Work in progress",

abstract = "This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines (4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.",

keywords = "Dexterous hand, Multisensory, Serial communication",

author = "Gao, \{X. H.\} and Jin, \{M. H.\} and L. Jiang and Xie, \{Z. W.\} and P. He and L. Yang and Liu, \{Y. W.\} and R. Wei and Cai, \{H. G.\} and H. Liu and J. Butterfass and M. Grebenstein and N. Seitz and G. Hirzinger",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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T1 - The HIT/DLR dexterous hand

T2 - 2003 IEEE International Conference on Robotics and Automation

AU - Gao, X. H.

AU - Jin, M. H.

AU - Jiang, L.

AU - Xie, Z. W.

AU - He, P.

AU - Yang, L.

AU - Liu, Y. W.

AU - Wei, R.

AU - Cai, H. G.

AU - Liu, H.

AU - Butterfass, J.

AU - Grebenstein, M.

AU - Seitz, N.

AU - Hirzinger, G.

PY - 2003

Y1 - 2003

N2 - This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines (4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.

AB - This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog Hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communication between the hand and DSP needs only 6 lines (4 lines power supply and 2 lines communication interface). The fingertip force can reach 10N.

KW - Dexterous hand

KW - Multisensory

KW - Serial communication

UR - https://www.scopus.com/pages/publications/0345327797

M3 - 会议文章

AN - SCOPUS:0345327797

SN - 1050-4729

VL - 3

SP - 3164

EP - 3168

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

The HIT/DLR dexterous hand: Work in progress

Abstract

Keywords

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