| HIT anthropomorphic robotic hand and finger motion control |
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| 作者姓名： | 高晓辉 史士才 赵大威 姜力 王智洋 蔡鹤皋 刘宏 |
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| 作者单位： | Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Robot Research Institute Harbin Institute of Technology Harbin 150001 China，Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany |
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| 基金项目： | Sponsored by the National High Technology Research and Development Project（ Grant No. 2003AA420010）. This research is accomplished in HIT-DLR Joint Research Lab. It is also supported by China＇s Hi-tech Development Plan. In addition to the authors listed above, Yuan Benxiang and Xiao Jizhou and Zhao Dawei three of our graduate students, Dr. Jin Minghe also contributed a lot in the research. |
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| 摘 要： | Researchonanthropomorphichandsisoneofthemostactiveareasinrobotics.Ingeneral,thesehandsaredividedintotwocategories:oneconsistsofmulti sensor,multi degreeoffreedomandmulti fingereddex teroushands,suchasNASAHandandDLRHand1～3].Thesekindsofhands,withhighinte…
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| 关 键 词： | 惯性拟人机器人 机械臂 手指运动控制 力传感器 |
| 文章编号： | 1005-9113（2006）01-0048-06 |
| 收稿时间： | 2003-11-14 |
HIT anthropomorphic robotic hand and finger motion control |
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| GAO Xiao-hui,SHI Shi-cai,ZHAO Da-wei,JIANG Li,WANG Zhi-yang,CAI He-gao,LIU Hong.HIT anthropomorphic robotic hand and finger motion control[J].Journal of Harbin Institute of Technology,2006,13(1):48-53. |
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| Authors: | GAO Xiao-hui SHI Shi-cai ZHAO Da-wei JIANG Li WANG Zhi-yang CAI He-gao LIU Hong |
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| Abstract: | Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot. |
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| Keywords: | anthropomorphic robotic hand under-actuated force sensor |
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