NTRS - NASA Technical Reports Server

Back to Results
Design and control of a multi-fingered robot hand provided with tactile feedbackThe design, construction, control and application of a three fingered robot hand with nine degrees of freedom and built-in multi-component force sensors is described. The adopted gripper kinematics are justified and optimized with respect to grasping and manipulation flexibility. The hand was constructed with miniature motor drive systems imbedded into the fingers. The control is hierarchically structured and is implemented on a simple PC-AT computer. The hand's dexterity and intelligence are demonstrated with some experiments.
Document ID
Document Type
Conference Paper
Vanbrussel, H.
(Louvain Univ.)
Santoso, B.
(Louvain Univ.)
Reynaerts, D.
(Louvain Univ.)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3
Subject Category
Man/System Technology And Life Support
Accession Number
Distribution Limits
Work of the US Gov. Public Use Permitted.
No Preview Available