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The DLR hand arm system
Open accessAbstract
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out. Collisions of the rigid joint robot at high speeds with stiff objects induce the energy too fast for an active controller to prevent damages. In contrast, passively compliant robots are able to temporarily store energy. In this case the resulting internal forces applied to the robot structure and the drive trains are reduced. Furthermore, the energy storage allows to outperform the dynamics of stiff robots. The hand drives and the electronics are completely integrated within the forearm. Extremely miniaturized electronics have been developed to drive the 52 motors of the system and interface their sensors. Several variable stiffness actuation principles used in the arm joints and the hand are presented. The paper highlights the different requirements that they have to fulfill. A first test of the systems robustness and dynamics has been performed by driving nails with a grasped hammer and is demonstrated in the attached video.
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Cited by
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Variable Stiffness Actuators: Review on Design and Components
Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2501019 · Cited by 459
Self-citationBorton, D., Micera, S., Millán, J. D. R., & Courtine, G. (2013) · Science Translational Medicine · doi:10.1126/scitranslmed.3005968 · Cited by 171
A bioelectric neural interface towards intuitive prosthetic control for amputees
Nguyen, A. T., Xu, J., Jiang, M., Luu, D. K., Wu, T., Tam, W.-K., Zhao, W., Drealan, M. W., Overstreet, C. K., Zhao, Q., et al. (2020) · Journal of Neural Engineering · doi:10.1088/1741-2552/abc3d3 · Cited by 52
Metadata
- Authors
- Grebenstein, M., Albu-Schaffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W., Gruber, R., Haddadin, S., Hagn, U., Haslinger, R., Hoppner, H., Jorg, S., Nickl, M., Nothhelfer, A., Petit, F., Reill, J., Seitz, N., Wimbock, T., Wolf, S., Wusthoff, T., & Hirzinger, G.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 3175-3182
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2139086916
- Cited by
- 436
- References
- 0
- FWCI
- 83.41
- Type
- conference paper
- Language
- en
- Open access
- green
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- The paper
- Grebenstein, M., Albu-Schaffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W., Gruber, R., Haddadin, S., Hagn, U., Haslinger, R., Hoppner, H., Jorg, S., Nickl, M., Nothhelfer, A., Petit, F., Reill, J., Seitz, N., Wimbock, T., Wolf, S., . . . Hirzinger, G. (2011). The DLR hand arm system. 2011 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2011.5980371
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