A mechatronics approach to the design of light-weight arms and multifingered hands

Describes design and development efforts in DLR's robotics lab towards a new generation of ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now, as well as the second generation of a worldwide most highly integrated 4 finger-hand is available now. Thus we hope that important steps towards a new generation of service and personal robots have been achieved.