The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand

• 作 者: 樊绍巍 Liu Yiwei Jin Minghe Lan T
• 机 构: StateKeylaboratoryofRoboticsandSystem,InstituteofRoboticsandMechatronic
• 出 处: 高技术通讯：英文版
• 发表日期: 2009年3期
• 关键词: 机器人灵巧手 航天中心 控制实验 拟人化 新设计 航空 德国 执行机构 anthropomorphic hand wire coupling mechanis
• 基金项目: Supported by the National High Technology Research and Development Programme of China （2006AA04Z255） and the 111 Project （B07018）.

<正> This paper presents a new developed anthropomorphic robot dexterous hand:HIT/DLR Hand Ⅱ.The hand is composed of an independent palm and five identical modular fingers,and each finger hasthree degree of freedom(DOFs)and four joints.All the actuat