Hand Arm System
The Hand Arm System is designed to have the size, strength, and speed of a human arm. It uses superstrong cables as tendons, and its aluminum endoskeleton makes it look like the Terminator's hand.
FEATURES
Anthropomorphic design. Able to withstand shocks and impacts. Equipped with actuators with variable stiffness and fast dynamic response.
HEIGHT
N/A cm | N/A in
LENGTH
120 cm | 47.2 in
WIDTH
N/A cm | N/A in
WEIGHT
13.5 kg | 29.8 lb (including shoulder)
SPEED
N/A km/h | N/A mph
SENSORS
112 position sensors. Force sensing performed by the actuators.
ACTUATORS
52 motors (two motors per joint, used for variable stiffness and antagonistic drive)
POWER
Tethered
COMPUTING
Intel-based computing nodes and programmable logic devices (FPGA/CPLD). Computing nodes connected by high-speed SpaceWire packet communication network.
SOFTWARE
QNX real-time OS with hardware abstraction layer and Matlab Simulink interface for control applications.
DEGREES OF FREEDOM (DOF)
52 (26 degrees of motion and 26 degrees of freedom for variable stiffness)
MATERIALS
Aluminum based endoskeleton. Low friction plastics for finger joint bodies. Hard plastic arm housings.
COST
N/A
STATUS
Ongoing