DocumentCode
3369971
Title
Progress in the development of anthropomorphic fluidic hands for a humanoid robot
Author
Schulz, S. ; Pylatiuk, C. ; Kargov, A. ; Oberle, R. ; Bretthauer, G.
Author_Institution
Institute for Applied Computer Sciences, Forschungszentrum Karleruhe GmbH P.0.Box 3640, D-76021 Karisruhc, Germany
Volume
2
fYear
2004
fDate
10-12 Nov. 2004
Firstpage
566
Lastpage
575
Abstract
New lightweight anthropomorphic hands are presented for application in a humanoid robot. These hands possess 13 to 15 degrees of freedom and are driven by flexible fluidic actuators that are integrated in the finger joints. The compact design of the hands contains a pressure unit that is housed in the metacarpus. Alternatively, the pressure unit can be mounted externally, which leads to a further mass reduction. The new design and its performance shall be described in the present article.
Keywords
Actuators; Anthropomorphism; Application software; Collaboration; Fingers; Grasping; Humanoid robots; Humans; Manipulators; Mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2004 4th IEEE/RAS International Conference on
Conference_Location
Santa Monica, CA, USA
Print_ISBN
0-7803-8863-1
Type
conf
DOI
10.1109/ICHR.2004.1442671
Filename
1442671
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