One of the major limitations of object manipulation with a robotic hand is the fragility of the hardware.This is one of the motivations for developing the new anthropomorphic and extremely robust Hand Arm System at the robotics and mecatronics center of DLR.The system is unique in terms of complexity, with 52 motors and more than 200 sensors, and also in terms of dynamics.Indeed, the system is mechanically compliant, thus offers the possibility to store and release energy, thereby providing two essential functions: The impacts are filtered and the dynamics are enhanced.This thesis focuses on the hand. It has 19 degrees of freedom, each being actuated by two flexible antagonistic tendons. Because the stiffnes of the tendons is not linear, it...
Nous nous intéressons à la conception des mains mécaniques anthropomorphes destinées à manipuler des...
While dexterous robotic manipulation research has made significant advancements in the last two deca...
In the present industrial context, there are still many tasks that cannot be fully automated, and th...
One of the major limitations of object manipulation with a robotic hand is the fragility of the hard...
Un des freins majeurs au développement de la manipulation d'objet avec une main robotisée est sans a...
The DLR Hand Arm System is a highly dynamic and fully integrated mechatronic system which uses an an...
In robotics, when the demands for dexterity and versatility are high, traditional end effectors quic...
The Hand Arm System of DLR is a complex mechatronic system built to approach the human in terms of d...
Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsi...
Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsi...
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It...
The thesis focuses on the enhancement of stiffness modeling of serial and parallel manipulators with...
This work deals with the problem of upper limb neurorehabilitation using robotics exoskeletons. Cont...
Mención Europea en el título de doctorThis thesis presents methods and tools for enabling the succes...
In contrast to underactuated robotic hands the DLR AWIWI II hand of the David robot is fully contro...
Nous nous intéressons à la conception des mains mécaniques anthropomorphes destinées à manipuler des...
While dexterous robotic manipulation research has made significant advancements in the last two deca...
In the present industrial context, there are still many tasks that cannot be fully automated, and th...
One of the major limitations of object manipulation with a robotic hand is the fragility of the hard...
Un des freins majeurs au développement de la manipulation d'objet avec une main robotisée est sans a...
The DLR Hand Arm System is a highly dynamic and fully integrated mechatronic system which uses an an...
In robotics, when the demands for dexterity and versatility are high, traditional end effectors quic...
The Hand Arm System of DLR is a complex mechatronic system built to approach the human in terms of d...
Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsi...
Physical human–robot interaction implies the intersection of human and robot workspaces and intrinsi...
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It...
The thesis focuses on the enhancement of stiffness modeling of serial and parallel manipulators with...
This work deals with the problem of upper limb neurorehabilitation using robotics exoskeletons. Cont...
Mención Europea en el título de doctorThis thesis presents methods and tools for enabling the succes...
In contrast to underactuated robotic hands the DLR AWIWI II hand of the David robot is fully contro...
Nous nous intéressons à la conception des mains mécaniques anthropomorphes destinées à manipuler des...
While dexterous robotic manipulation research has made significant advancements in the last two deca...
In the present industrial context, there are still many tasks that cannot be fully automated, and th...