The Robonaut hand: a dexterous robot hand for space
Lovchik, C.S.
Diftler, M.A.
Robotics Technol. Branch, NASA Johnson Space Center, Houston, TX;
This paper appears in: Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Publication Date: 1999
Volume: 2,
On page(s): 907-912 vol.2
Meeting Date: 05/10/1999 - 05/15/1999
Location: Detroit, MI, USA
ISBN: 0-7803-5180-0
References Cited: 16
INSPEC Accession Number: 6346253
Digital Object Identifier: 10.1109/ROBOT.1999.772420
Current Version Published: 2002-08-06
Abstract
A highly anthropomorphic human scale robot hand designed for space
based operations is presented. This five finger hand combined with its
integrated wrist and forearm has fourteen independent degrees of
freedom. The device approximates very well the kinematics and required
strength of an astronaut's hand when operating through a pressurized
space suit glove. The mechanisms used to meet these requirements are
described in detail along with the design philosophy behind them.
Integration experiences reveal the challenges associated with obtaining
the required capabilities within the desired size
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