Paper Info
Title
The Robonant 2 Hand - Designed To Do Work With Tools
Abstract
The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original. Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand. Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand's improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6224772
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
weaving,avionics,mechatronics,modularity,palm,simulation,actuators,mechanical engineering,end effectors,human factors engineering,machine tools,assembly,couplings,robotics,end effector,human interface
GRASP,Robonaut,Simulation,Control engineering,Robot end effector,Artificial intelligence,Engineering,Mechatronics,Grippers,Robotics,Friction drive,Machine tool
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
22
1.31
10
Authors
9
Name
Order
Citations
PageRank
Lyndon B. Bridgwater11426.78
Chris Ihrke2221.31
Myron A. Diftler328938.32
Muhammad Abdallah4654.63
Nicolaus A. Radford51426.78
J. Jill Rogers6252.26
S. Yayathi7221.31
R. Scott Askew81209.91
D. Marty Linn91054.95