Abstract
Control system is a very important component of robotic hands, of which the functions and applications are dominated by it, although very few papers discussed it. A control system can be divided into hardware system and software system and both of them combine to realize the control functions of a robotic hand. With the development of microelectronics technology during the past 30 years, the hardware control system of robotic hands has gained significant progress, which greatly promotes the development of robotic hands. This chapter will first give a brief review of the development of the hardware control system of robotic hands from 1980s to present, and then four different hardware control systems of robotic hands designed by our lab are introduced with detailed descriptions so as to provide more information on the design of hardware control system of robotic hands.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Butterfass J, Hirzinger G, Knoch S, Liu H (1998). DLR’s multisensory articulated hand part I: hard and software architecture. In: Proceedings of the IEEE international conference on robotics and automation, vol 3, pp 2081–2086
Butterfass J, Grebenstein M, Liu H, Hirzinger G (2001). DLR-Hand II: next generation of a dexterous robot hand. In: Proceedings of the international conference on robotics and automation. Seoul, Korea, pp 109–114
Butterfass J, Fischer M, Grebenstein M, Haidacher S, Hirzinger G (2004) Design and experiences with DLR hand II. In: Proceedings of the tenth international symposium on robotics with applications. Seville, Spain
Cai Y, Zhan Q, Ceccarelli M, Carbone G, Yao S, Lu Z (2010) Design and simulation of a DSP controller for a LARM hand. In: Proceedings of the 2nd international Asia conference on informatics in control, automation and robotics, vol 1. Wuhan, pp 361–364
Cipriani C, Controzzi M, Vecchi F, Carrozza MC (2008) Embedded hardware architecture based on microcontrollers for the action and perception of a transradial prosthesis. In: Proceedings of the 2nd Biennial IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics. Scottsdale, AZ, USA, pp 848–853
Cipriani C, Controzzi M, Carrozza MC (2009) Progress towards the development of the SmartHand transradial prosthesis. In: Proceedings of the IEEE international conference on rehabilitation robotics. Kyoto, Japan, pp 682–687
Cipriani C, Controzzi M, Carrozza MC (2010) Objectives, criteria and methods for the design of the SmartHand transradial prosthesis. Robotica 28:919–927
Cipriani C, Controzzi M, Carrozza MC (2011) The SmartHand transradial prosthesis. J NeuroEng Rehabil 8(29)
Connolly C (2008) Prosthetic hands from touch bionics. Ind Robot 35(4):290–293
Guo G, Zhang Q (1987) Structure study of a new multi-functional hand-mechanism. Robot 1(6):26–31
Guo G, Zhang Q (1989) Analysis and optimization design of a three D.O.F. multi-articulated finger-mechanism. Robot 3(2):51–57
Haidacher S, Butterfass J, Fischer M, Grebenstein M, Joehl K (2003) DLR hand II: hard- and software architecture for information processing. In: Proceedings of the 2003 IEEE international conference on robotics and automation. Taipei, Taiwan, pp 684–689
Han Z (2003) Research on data processing of force/torque sensors and control for dexterous hand. Ph.D. dissertation, Beihang University, pp 85–89
Jacobsen SC, Wood JE, Knutti DF, Biggers KB, Iversen EK (1984) The UTA/M.I.T. dexterous hand: work in progress. Int J Robot Res 4(3):21–50
Jacobsen SC, Iversen IK, Knutti D, Johnson RT, Biggers KB (1986). Design of the UTA-MIT dexterous hand. In: Proceedings of IEEE international conference on robotics and automation. USA, pp 1520–1532
Konteck C (2001) Specification Sheet for Standard Lusense Sensors of PS3 Family
Liu H, Meusel P, Hirzinger G, Jin M, Liu Y, Xie Z (2008) The modular multisensory DLR-HIT-Hand: hardware and software architecture. IEEE/ASME Trans Mechatron 13(4):461–469
Loucks C, Johnson V, Boissiere P et al (1987) Modeling and control of the stanford/JPL hand. In: IEEE international conference on robotics and automation, pp 573–578
Maeda Y, Tachi S, Fujikawa A (1989) Development of an anthropomorphic hand (Mark-I). In: Proceedings of international symposium on industrial robots. Tokyo, pp 537–544
Motorola Inc (1992) Motorola M68000 Family Programmers Reference Manual
Narasimhan S, Siegel DM, Hollerbach JM, Biggers KB, Gerpheide GE (1986) Implementation of control methodologies on the computational architecture for the Utah/MIT hand. In: Proceedings of the IEEE conference on robotics and automation, vol 3. San Francisco, pp 1884–1889
Narasimhan S, Siegel DM, Hollerbach JM (1988) Condor: a revised architecture for controlling the Utah-MIT hand. In: Proceedings of the IEEE international conference on robotics and automation, vol 1, pp 446–449
Wei R, Gao XH, Jin MH, Liu YW, Liu H, Seitz N, Ggruber R, Hirzinger G (2005) FPGA based hardware architecture for HIT/DLR hand. In: Proceedings of IEEE/RSJ international conference on intelligent robots System. Edmonton, Canada, pp 3233–3238
Zhan Q, Zhang Q (2001) A dual-arm plaform for inner space station operation. In: Proceedings of the international conference on bio-robotics and teleportation. Beijing, pp 347–350
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Qiang, Z. (2013). Hardware Control System of Robotic Hands. In: Carbone, G. (eds) Grasping in Robotics. Mechanisms and Machine Science, vol 10. Springer, London. https://doi.org/10.1007/978-1-4471-4664-3_10
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4664-3_10
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4663-6
Online ISBN: 978-1-4471-4664-3
eBook Packages: EngineeringEngineering (R0)