Design, realization and sensorization of a dextrous hand: the iCub design choices
نویسندگان
چکیده
In this paper we describe the hand of the iCub humanoid, an open source robotic platform funded by the European Commission. The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. The final design has 9 degrees of freedom per hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors. As a preliminary application we tested the hand on a simplified grasping scenario in order to quantitatively evaluate the reliability and repeatability of the overall system.
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