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Seabed Web>SeabedMain>OtherHands (11 Apr 2009, DanAukes)
Seabed Web>SeabedMain>OtherHands (11 Apr 2009, DanAukes)Hand Designs in the Literature
Table I (derived from Birglen, Laliberté, Gosselin. Underactuated Robotic Hands)| Name | Fingers | DOF | Drive | Underactuated | ||
| AMADEUS | 3 | n.a. | hydraulic | Y | ||
| ASI | 3 | 3 | mechanical | N | ||
| BarrettHand BH8 | 3 | 7 | mechanical | Y | ||
| Belgrade/USC | 5 | 6 | mechanical | Y | ||
| Bologna University | 3 | 10 | tendons | N | ||
| DIST Hand | 4 | 16 | tendons | N | ||
| DLR Hand 1 | 4 | 12 | mechanical | N | ||
| DLR Hand 2 | 4 | 13 | mechanical | N | ||
| Gifu Hand III | 5 | 16 | mechanical | N | ||
| Goldfinger | 4 | 12 | mechanical | N | ||
| HIT/DLR Hand | 4 | 13 | mechanical | N | ||
| Karlsruhe Hand 2 | 4 | 12 | mechanical | N | ||
| Karlsruhe RC | 5 | n.a. | fluid | Y | ||
| LMS | 4 | 16 | tendons | N | ||
| MARS | 3 | 12 | mechanical | Y | ||
| NASA Robonaut | 4 | 12 | tendons | N | ||
| Okada | 3 | 11 | tendons | N | ||
| Omni-Hand | 3 | n.a. | mechanical | N | ||
| RTR Hand 1 | 3 | 6 | mechanical | N | ||
| RTR Hand 2 | 3 | 9 | tendons | Y | ||
| Salisbury | 3 | 9 | tendons | N | ||
| SARAH | 3 | 10 | mechanical | Y | ||
| Shadow C3 Hand | 5 | 24 | pneumatic | N | ||
| Soft Gripper 1 | 2 | 10 | tendons | Y | ||
| Soft Gripper 3 | 3 | 10 | tendons | Y | ||
| SPRING Hand | 3 | 8 | tendons | Y | ||
| Utah/MIT | 4 | 16 | tendons | N | ||
| Hand | # fingers | Pitch joints per | Pitch actuators per finger | Coupling scheme(*indicates compliant coupling, ^indicates adaptive mechanism) | Coupling ratio | Source of compliance and/or adaptability | ||
| 100G | 2 | 2 | 1/2 | prox:*:dist | unknown | tendon routing, spring-loaded joints | ||
| Barrett | 3 | 2 | 1 | prox:^:dist | (3:4) | TorqueSwitch? ? differential | ||
| Belgrade/USC | 4+1 | 3+0 | 1/2+1 | (prox;med;dist)+(prox;dist) | (~9;8;7) | rocker arm coupling of fingers | ||
| DLR I & II | 4 | 3 | 2 | med;dist | (1;1) | none | ||
| Domo | 3 | 3 | 1 | prox;med:*:dist | (1;1:passive) | unactuated compliant distal joint | ||
| Graspar | 3 | 3 | 1 | prox:^:med:^:dist | (~5:4.2:2.9) | tendon differential mechanism | ||
| Hirose | 2 | 10 | 1/2 | prox:(all):distal | (55:::28:::10:::1) | tendon routing | ||
| Laval 10-DOF | 3 | 3 | 1/3 | prox:^:med:^:dist | unknown | adaptive linkage mechanism | ||
| NAIST | 3+1 | 3+3 | 2+2 | (med;dist)+(med;dist) | (1;1.15) | none | ||
| Obrero | 3 | 2 | 1 | prox:*:dist | (4:3) | series elastic actuation | ||
| Robonaut | 2+2+2 | 3+3+2 | 2+1+2 | (med;dist)+(prox;med;dist)+0 | (1;1)+(1;1;1)+0 | compliant connector, no adaptability | ||
| Rutgers | 4+1 | 3+3 | 2+2 | med:dist | unknown | tendon routing | ||
| Salford | 4+1 | 3+3 | 2+3 | (med;dist)+0 | unknown | none | ||
| SDM | 2 | 2 | 1 | (prox:*:dist) | (4.5:1) | tendon routing, joints made of springs | ||
| Shadow | 4+1 | 3+2 | 2+2 | (med:dist)+0 | unknown | McKibbons? , unknown adaptability | ||
| Southampton | 3 | 3 | 1 | prox:^:med:^:dist | unknown | differential unit | ||
| SPRING | 2+1 | 3+2 | 1/3+1/3 | (prox:*:med:*:dist)+(prox:*:dist) | (2.9:1.6:1) | series elastic actuation | ||
| TBM | 4+1 | 3+2 | 1+1 | (prox;med;dist)+(prox;dist) | (~2:1:1)+(~2;1) | none | ||
| UB | 2+2+1 | 3+3+3 | 3+2+2 | 0+(med:*:dist)+(med:*:dist) | (~6:7) | tendon routing, joints made of springs | ||
Versatile Hands
These hands can adapt to a fairly wide range of grasp shapes. Often they are under-actuated. They are suitable for power grasps (see the Cutkosky grasp taxonomy) but generally not for manipulating actively with the fingertips. The Barrett Hand is probably the best known, relatively versatile robotic hand. It has three fingers and two independently controlled DOF per finger. It can switch between radially symmetric and opposed thumb grips for power grasps on cylindrical and spherical objects. Many researchers have used the Barrett Hand for research in vision-based grasping, etc. and some have equipped it with various force and tactile sensors. It has the advantages that it is relatively light and self-contained. Thus, it could be a model for a semi-autonomous Handy Hand. The Sarah Hand is a recent design from Clement Gosselin's laboratory at University of Laval in Canada. It has been designed for the Canada Space Arm. It has three fingers and can switch between spherical and cylinderical grasps. However it has only two actuators. It uses an extensive gear train to balance the forces along and between the fingers. The finger mechanism derives from an earlier hand, the Mars Hand, and from Dr. Gosselin's extensive studies on under-actuated mechanism. http://robotics.estec.esa.int/ASTRA/Astra2002/Papers/astra2002_2.6b-2.pdf the Mars Hand http://www.google.com/patents?vid=USPAT6505870B1Dexterous Hands
In contrast to the Versatile Hands, these can manipulate (impart motions to objects) actively with the fingertips, in the same way that a person, for example, rolls a pencil or a ball with the fingertips. -- MarkCutkosky - 17 Dec 2008
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