1. Smart Motor Hand (C6M)
Shadow Robot
Company Ltd.
Model Smart
Motor Hand (C6M) uses Shadow's electric Smart Motor actuation system, rather than the
pneumatic Air Muscle actuation system of other Dextrous Hand systems. The Hand
is driven by 20 Smart Motor units mounted below the wrist which provide compliant
movements. Following the biologically-inspired design principle, a pair of
tendons couple each Smart Motor to the corresponding joint of the Hand.
Integrated electronics in the Smart Motor unit drives a high efficiency
rare-earth motor,and also manages corresponding tendon force sensors. The Hand
system (hand, sensors, and all motors) has a total weight of 4 kg.
2. Dexhand
SURABAYA UNIVERSITY, Electrical
Engineering Department
The dimensions of the fingers are close to that of
a human one. Each joint has a range of rotation which equivalent to that of a
human hand. Each finger joint use steel wire to drive the fingers for grasp and
use a tension spring for go back to normal position. Each finger have 2 DOF
that is MP (Metacarpal Phalangeal) joint and PIP (Proximal Inter
Phalangeal)joint. The DIP (Distal Inter Phalangeal) joint is passively driven
follow PIP joint. Each Finger is actuated through 2 steel wire and driven by 2
RC Standard Servos. First steel wire driving the MP joint and other steel wire
for PIP and DIP joint. The RC servo have output torque of about 3.7 KgCm (51
OzIn) at 6.0 Volt.
3. Sandia Hand (2012)
Sandia
National Laboratories
The Sandia Hand has 13 DOFs (!!) and is
modular: the different types of fingers can be attached with magnets and
quickly plugged into the hand frame. The operator can quickly and easily attach
additional fingers or other tools, such as flashlights, screwdrivers or
cameras. Modularity also gives the Sandia Hand a unique durability. The fingers
are designed to fall off should the operator accidentally run the hand into a
wall or another object. The robots tough outer skin covers a gel-like layer to mimic human tissue, giving the Sandia Hand the additional
advantage of securely grabbing and manipulating objects. The Sandia Hand
project is funded by the Defense Advanced Research Projects Agency.
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