The HIT/DLR dexterous hand: work in progress

Gao, Xiaohui; Jin, Minghe; Jiang, Li; Xie, Zongwu; He, Peng; Yang, Linjie; Liu, Y.W.; Wei, R.; Cai, Hansheng; Liu, H.; Butterfaß, J.; Grebenstein, Markus; Seitz, Nikolaus; Hirzinger, G.

doi:10.1109/robot.2003.1242077

Cited by 41 publications

(20 citation statements)

References 6 publications

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“…Since this component vanishes on the rotation axis one has to place the sensor devices off axis, e.g., on a circle of 1 mm diameter concentric to the axis (Section 3.2). As sensor elements one can use horizontal Hall plates (HHall) [9,10] or MAGFETs [11]. The main advantage is the mature technology of HHalls, where the problems of offset [12] and mechanical stress [13,14] are solved.…”

Section: Introductionmentioning

confidence: 99%

A Theory of Magnetic Angle Sensors With Hall Plates and Without Fluxguides

Ausserlechner¹

2013

PIER B

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Abstract-Magnetic angle sensors detect the angular position of a permanent magnet attached to a rotating shaft. The magnet is polarized diametrically to the rotation axis. No soft magnetic flux guides are present. The semiconductor die is placed on and orthogonal to the rotation axis. There are two kinds of systems: (i) perpendicular systems detect the field components perpendicular to the rotation axis, and (ii) axial systems detect the component parallel to the rotation axis. The former use magneto-resistive sensors or vertical Hall effect devices; the latter use Hall plates. This paper focuses on axial systems, derives their conceptual limitations, and compares them with perpendicular systems. An optimized system and optimum shapes of magnets are reported. Angle errors due to assembly tolerances of magnet and sensor versus shaft are explained. It is proven that assembly tolerances of optimized axial systems give three times larger errors than perpendicular systems.

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Section: Introductionmentioning

confidence: 99%

A Theory of Magnetic Angle Sensors With Hall Plates and Without Fluxguides

Ausserlechner¹

2013

PIER B

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“…Close fingers in order to grasp the object 4 Compute F k using eq. (15) 5 while Stop signal is not activated do 6 Compute F k using eq.…”

Section: Algorithm 1: Manipulation With Tactile Feedbackmentioning

confidence: 99%

“…Dexterous manipulation is closely related with the development of grasping elements, some of them with anthropomorphic characteristics [2], [3], [4], [5], [6]. Tactile information is important for robotic hands in order to achieve dexterity and precise object handling.…”

Section: Introductionmentioning

confidence: 99%

Getting comfortable hand configurations while manipulating an object

Montano

Suárez

2014

Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)

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Abstract-The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with tactile sensors on the fingertips. The contact point on each fingertip is modeled using a virtual articulation which adds a virtual degree of freedom to the finger. The approach uses the tactile data and hand kinematics information in order to estimate a grasp quality measure and to make finger adjustments after an initial grasp in order to improve the hand comfort. The approach was implemented in a real sensorized hand, and some examples manipulating different objects are presented in the paper showing the evolution of the resulting quality.

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“…Its measurement principle can be seen in Ref. [14]. The torque sensors are embedded in the finger structure.…”

Section: Electronic Integrated Designmentioning

confidence: 99%

Design and control of a coupling mechanism-based prosthetic hand

Wang

Liu

Jiang

et al. 2010

J. Shanghai Jiaotong Univ. (Sci.)

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A five-fingered, multi-sensory and biomimetic hand is presented. The cambered palm is specially designed by utilizing the knowledge of anatomy. The position of each finger is arranged according to human hand skeleton. Each finger with three phalanges could fulfill flexion-extension movement independently. All the fingers are designed using coupling link mechanism. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. The hardware architecture is divided into control system and human-machine interaction system. The mechanical parts, sensors and motion control systems are integrated in the hand structure. In addition, a skin-like glove is designed, which makes the hand more humanlike. According to our primary experimental results, the hand can accomplish several grasp modes by applying an intuitive surface electromyography control scheme. The success rate of 10 modes is up to 90%.

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The HIT/DLR dexterous hand: work in progress

Cited by 41 publications

References 6 publications

A Theory of Magnetic Angle Sensors With Hall Plates and Without Fluxguides

A Theory of Magnetic Angle Sensors With Hall Plates and Without Fluxguides

Getting comfortable hand configurations while manipulating an object

Design and control of a coupling mechanism-based prosthetic hand

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