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The SKKU hand: Work in progress

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5 Author(s)
Dongmin Choi ; Sungkyunkwan Univ., Suwon, South Korea ; Seunghoon Shin ; Ja Choon Koo ; Hyouk Ryeol Choi
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This paper presents on-going research of the SKKU Hand. The purpose of the development of SKKU Hand is for delicate dynamic grasp. To design a dexterous robot hand driven by motor, we studied a human hand analysis. And customized fingertip force/torque sensor and joint torque sensors are integrated each finger as well as brushless DC motors and harmonic drivers. The rest of the paper presents a control strategy of SKKU Hand. For robust grasp, we implemented classical impedance control.

Published in:

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Date of Conference:

26-28 Nov. 2012