Multisensory HIT/DLR dexterous robot hand

Abstract

This paper describes the current work progress of HIT/DLR dexterous hand. Based on the technology of DLR hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand with multisensory system. The prototype of one finger has been successfully built. The finger has three DOF and four joints; last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communications between the hand and DSP needs only 2 lines. The fingertip force can reach 10N.