Title :
The DIST-HAND robot
Author :
Caffaz, A. ; Bernieri, S. ; Cannata, G. ; Casalino, G.
Author_Institution :
DIST, Genova Univ., Italy
Abstract :
This paper presents the prototype of the DIST robotic hand developed at the Graal-Lab of the University of Genova. In the current version, the hand is formed by a palm supporting four fingers. Each finger has four rotational degrees of freedom, and is equipped with custom built position sensors using Hall-effect transducers. The actuation of each finger is done using six tendons driven by five computer controlled DC motors. A kinematic analysis has been performed using simulation tools, with the goal of building a mechanism with size and mobility similar to those of human hand
Keywords :
Hall effect transducers; computerised control; manipulator kinematics; position control; DC motors; DIST robotic hand; Hall-effect transducers; University of Genova; five finger hand; kinematic analysis; manipulators; position sensors; tendons; Analytical models; Computational modeling; DC motors; Fingers; Humans; Kinematics; Prototypes; Robot sensing systems; Tendons; Transducers;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.656804
