Large scale multi-fingered end-effector teleoperation

Large multi-fingered end-effectors have promise to provide the added dexterity needed for manipulation while decreasing the amount of special fixturing required for tooling and object manipulation common to remote handling operations in hazardous and unstructured environments such as those in the nuclear domain. This paper presents the integration of a heavy-duty three-fingered articulated hand with a Schilling Titan hydraulic manipulator that is part of a comprehensive telerobotics test bed. Experiments demonstrated that a multi-fingered end effector approach has distinct benefits and advantages.