Underactuated Humanoid Robot Hands

I found this article from IEEE Spectrum. This hand named as Azzurra uses special kind of underactuated mechanism(only 5 motors can actuate total 11 Dof) and which is known as Hirose’s mechanism.

By using that kind of mechanism, the key feature of Azzurra is a self-contained structure. That is, all functional components including motors, sensors and controller are integrated in the palm, and the weight of the hand is only 640 grams!

Key Features
 * Light weight: 640 grams
 * Compliant grasps
 * Thumb ab/adduction

Technical specs & Resources
 – Total DoA : 5
 – Total DoF : 11
 – Interface : RS232/USB
 – Power supply : 8V@5A peak
 – Weight : 640g
 – Grasp payload : 4 kg

 

sources:

1. http://spectrum.ieee.org/automaton/robotics/medical-robots/startup-spotlight-prensilia

2. http://www.prensilia.com/index.php?q=en/node/40

 

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