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HIT anthropomorphic robotic hand and finger motion control

哈尔滨工业大学学报（英文版）2006，Vol.13Issue(1)：48-53,6.

HIT anthropomorphic robotic hand and finger motion control

作者信息

1. Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Robot Research Institute, Harbin Institute of Technology, Harbin 150001, China;Institute of Robotics and Mechatronics, German Aerospace Center, DLR, 82230 Wessling, Germany
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摘要

Abstract

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.

关键词

anthropomorphic robotic hand/under-actuated/force sensor

Key words

anthropomorphic robotic hand/under-actuated/force sensor

分类

信息技术与安全科学

引用本文复制引用

..HIT anthropomorphic robotic hand and finger motion control[J].哈尔滨工业大学学报（英文版）,2006,13(1):48-53,6.

基金项目

Sponsored by the National High Technology Research and Development Project( Grant No. 2003AA420010). （ Grant No. 2003AA420010）

哈尔滨工业大学学报（英文版）

ISSN：1005-9113

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