Biomedical Engineering Reference
In-Depth Information
TABLE 10-4
Some Anthropomorphic Research Hands
BH8-series
Barrett hand
Barrett
technology, inc.
USA
Ultralight Hand
Research
center of
Karlsruhe
Germany
Robonaut Hand
NASA Johnson
Space Center
USA
DLR Hand II
DLR-German
Aerospace
Center Germany
Shadow Hand
Shadow Robot
Company Ltd
United-Kingdom
DIST Hand
Universita di
Genova Italy
GIFU Hand
Gifu University
Japan
UB Hand III
Bologna
University Italy
Robot Hand
identification
Year
1997
1998
1999
2000
2000
2001
2004
2004
Status
Commercial use
Research
prototype
Research
prototype
Research
prototype
Research
prototype
Research
prototype
Available for
purchase
Research prototype
Structures
and
materials
3 fingers
(opposable),
Electrical revolute
brushless motors,
Spur and worm
gear transmissions,
Fair contact surface
smoothness
3 fingers and one
opposable thumb,
Electrical revolute
brushless motors,
Tendons routed
through pulleys
4 fingers and one
opposable thumb,
Electrical revolute
brushless motors,
Flex-shaft + lead
screw transmissions,
Kevlar body armor
coated with Teflon
4 fingers and one
opposable thumb,
Electrical revolute
motors,
Harmonic drives/
gears transmissions,
Silicone finger
surface
4 fingers and one
opposable thumb,
Flexible fluidic
actuators,
Direct drive
transmissions,
Silicone-rubber glove
4 fingers and one
opposable thumb,
Built-in DC Maxon
servomotors,
Worm gear
transmissions
4 fingers and one
opposable thumb,
Air Muscles,
Tendons,
Layer of soft
polyurethane flesh,
Thin polycarbonate
fingernails
4 fingers and one
opposable thumb,
DC brushed motor,
Pulling tendons,
Continuous
compliant pulps
Sensory-
motor skills
4 controlled DOF
Motor position
sensors (optical
incremental
encoders)
Strain-gauges
based joint torque
sensors
16 controlled DOF
Motor position
sensors hall-effect
based joint position
sensors
3-axis fingertip
force sensors
14 controlled DOF
(2 wrist + 12 fingers)
Motor position sensors
Joint position sensors
Tendon tension
sensors
Tactile force sensors
(FSR Force Sensing
Resistor technology)
13 controlled DOF
Motor position sensors
Joint position sensors
(potentiometers)
Strain-gauged based
joint torque sensors
6-axis fingertip force
sensors
13 controlled DOF
(3 wrist + 10 fingers)
Joint position bending
sensors
Pressure sensors in
finger links
16 controlled DOF
Motor position
sensors
6-axis fingertip
force sensors
Distributed resistive
tactile sensors
24 DOF, 20 controlled
(16/12 fingers + 5
thumb + 2 wrist +
1 palm)
Muscle pressure
sensors
Hall effect based joint
position sensors
Distributed tactile
force sensors
(contact, force,
direction)
16 controlled DOF
Motor position
sensors
Tendon force
sensors strain
gauges based joint
position sensors
Feedback
control
No sensory feedback
Patented clutch
mechanism dis-
tributes grasp forces
Patented reconfig-
urable spreading
fingers
Position feedback
No sensory feedback
Position feedback
(impedance control)
No sensory feedback
Self adaptable
properties of the hand
Position feedback
Position feedback
(low level joint
position and joint
stiffness control)
Incomplete sensory
feedback
Motor level control
Impedance control
Functional
capabilities
Power grasp and
precision grasp
Power grasp and
precision grasp
Power grasp, precision
grasp and human-like
fine manipulation
Power grasp, precision
grasp and human-like
fine manipulation
Power grasp and
precision grasp
Power grasp and
precision grasp
Power grasp,
precision grasp and
human like fine
manipulation
Power grasp,
precision grasp and
human like fine
manipulation
Autonomy
Non autonomous
Non autonomous
Remotely operated via
visual feedback
Pre-planning:
performs previously
stored trajectories and
hand poses
Pre-planning:
performs patterns of
movements : position
and torque of every
Non autonomous
Semiautonomous
Semiautonomous
