Advances in Robotics: The DLR Experience

Hirzinger, Gerd; Fischer, Max; Brunner, Bernhard; Koeppe, R.; Otter, Martin; Grebenstein, Markus; Schäfer, Ingo

doi:10.1177/02783649922067726

Cited by 47 publications

(21 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…With a gradual introduction of electronic control systems and modern control theory the mechanical link was replaced by transfer through communication. With the communication over an electronic media there is a delay between operator instructions and slave motion; the same is also true for generation of feedback to the user (Hirzinger et al, 1999). The introduced delay challenges traditional control models that assume signals to be delivered instantly.…”

Section: Teleoperation Contextmentioning

confidence: 99%

Teleoperation for a ball-catching task with significant dynamics

2008

View full text Add to dashboard Cite

a b s t r a c tIn this paper we present ongoing work on how to incorporate human motion models into the design of a high performance teleoperation platform. A short description of human motion models used for ball-catching is followed by a more detailed study of a teleoperation platform on which to conduct experiments. Also, a pilot study using minimum jerk theory to explain user input behavior in teleoperated catching is presented.

show abstract

Section: Teleoperation Contextmentioning

confidence: 99%

Teleoperation for a ball-catching task with significant dynamics

2008

View full text Add to dashboard Cite

show abstract

“…For the controllable multi-fingered hand, the stability index of minimizing the elastic potential energy was put forward. Nguyen has systematically studied the stability of N elastic finger plane and space grasping for the first time [7]. It is pointed out that the grasping stiffness matrix must be positive definite to ensure that the grasping is quasi-static and stable.…”

Section: Grasp Planning Analysis Indexmentioning

confidence: 99%

A Review of the Grasp Planning of Dexterous Hand

Cheng¹,

Sun²,

Hu³

2017

Proceedings of the 7th International Conference on Management, Education, Information and Control (MEICI 2017)

View full text Add to dashboard Cite

Abstract. With the continuous development of bionic machinery, dexterous hand development is also rising. And dexterous hands to complete a similar operation of the staff must be carried out planning. Firstly, the grasping of dexterous hand is classified. Then, four grasping analysis indexes of force closure, dexterity, static balance and stability are put forward according to classification. In the light of these indexes, the existing grasping planning method is analyzed on the basis of these indexes. Finally, the existing problems of the grasp planning method and the countermeasures are put forward.

show abstract

“…Meanwhile, the Dexhand also has some special design, such as its transmission system (Dyneema tendon plus harmonic reducer), control system (totally integrated into the hand), and communication system (CAN Bus and VxWorks controller), for properly working in the space environment. In addition, the DLR's HASy Hand is a new type multi-finger DRH to be used in the bionic HandArm system [10]. It has a similar size, weight, and even behavior to a human hand.…”

Section: Representative Studiesmentioning

confidence: 99%

On the development of intrinsically-actuated, multisensory dexterous robotic hands

et al. 2016

View full text Add to dashboard Cite

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control elements are totally embedded in the hand. According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand. In both, the hand's actuation, sensing, and control subsystems are highly integrated and modularized. This feature endows our robot hands with compact appearances, simple integration, and large flexibilities. At last, we give some perspectives on the future development of dexterous hands from the aspects of structure, functionality, and control strategies.

show abstract

Advances in Robotics: The DLR Experience

Cited by 47 publications

References 19 publications

Teleoperation for a ball-catching task with significant dynamics

Teleoperation for a ball-catching task with significant dynamics

A Review of the Grasp Planning of Dexterous Hand

On the development of intrinsically-actuated, multisensory dexterous robotic hands

Contact Info

Product

Resources

About