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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

WEBSITE

http://www.dlr.de/rm/en/desktopdefault.aspx/tabid-5486/