The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
DLR-Hand II: next generation of a dextrous robot hand
Abstract
This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
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Wettels, N., Santos, V. J., Johansson, R. S., & Loeb, G. E. (2008) · Advanced Robotics · doi:10.1163/156855308x314533 · Cited by 348
Chu, J.-U., Moon, I., Lee, Y.-J., Kim, S.-K., & Mun, M.-S. (2007) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2007.897262 · Cited by 299
The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping
Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R., & Dario, P. (2004) · Autonomous Robots · doi:10.1023/b:auro.0000016863.48502.98 · Cited by 255
Kinematically optimal catching a flying ball with a hand-arm-system
Bauml, B., Wimbock, T., & Hirzinger, G. (2010) · 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2010.5651175 · Cited by 113
Self-citationA review on humanoid robotics in healthcare
Joseph, A., Christian, B., Abiodun, A. A., & Oyawale, F. (2018) · MATEC Web of Conferences · doi:10.1051/matecconf/201815302004 · Cited by 89
Metadata
- Authors
- Butterfass, J., Grebenstein, M., Liu, H., & Hirzinger, G.
- Venue
- Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
- Publisher
- IEEE
- Published
- 2002-11-13
- Volume
- 1
- Pages
- 109-114
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2134167019
- Cited by
- 808
- References
- 1
- FWCI
- 28.52
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Butterfass, J., Grebenstein, M., Liu, H., & Hirzinger, G. (2002). DLR-Hand II: next generation of a dextrous robot hand. Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). https://doi.org/10.1109/robot.2001.932538
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
