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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/



CREATOR

German Aerospace Center

COUNTRY

Germany

Year

2010

Type

Research

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DID YO KNOW?



To assess the robustness of their arm, the researchers did what you'd expect from any self-respecting roboticist: They smashed the robot with a baseball bat.

The fingers of the robot can move at speeds of 3,500 degrees per second.

HISTORY



The Hand Arm System is the culmination of decades of research in robot manipulation by researchers at the DLR Robotics and Mechatronics Center. The main motivation for the project is the fact that when robots perform tasks in the real world, they inevitably collide with objects, the environment, and even people. For that reason, the DLR researchers believe that future robots have to be able to handle collisions without suffering or causing damage. The DLR Hand Arm System uses elastic components capable of storing energy and actuators capable of changing their stiffness to achieve the robustness needed against collisions. The Hand Arm System is currently used as a platform for advancing dexterous manipulation and for exploring new applications in robotics.