HIT anthropomorphic robotic hand and finger motion control

被引：5

作者：

高晓辉 ^{[1
]}

史士才 ^{[1
]}

赵大威 ^{[1
]}

姜力 ^{[1
]}

王智洋 ^{[1
]}

蔡鹤皋 ^{[1
]}

刘宏 ^{[2
]}

机构：

[1] Robot Research Institute, Harbin Institute of Technology, Harbin , China

[2] Institute of Robotics and Mechatronics, German Aerospace Center, DLR, Wessling, Germany

来源：

Journal of Harbin Institute of Technology | 2006年 / 01期

关键词：

anthropomorphic robotic hand; under-actuated; force sensor;

D O I：

暂无

中图分类号：

TP241 [机械手];

学科分类号：

080202 ; 1405 ;

摘要：

Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.

引用

页码：48 / 53

页数：6

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