Design, realization and sensorization of the dexterous iCub hand

Alexander Schmitz, Ugo Pattacini, Francesco Nori, Lorenzo Natale, Giorgio Metta, Giulio Sandini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Citations (Scopus)

Abstract

In this paper we describe the hand of the humanoid iCub, 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 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors. The electronics for the sensors are embedded in the hand. As a preliminary application we tested the hand in a simplified grasping scenario in order to quantitatively evaluate the reliability and repeatability of the overall system.

Original languageEnglish
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Pages186-191
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Externally publishedYes
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: 2010 Dec 62010 Dec 8

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
CountryUnited States
CityNashville, TN
Period10/12/610/12/8

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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  • Cite this

    Schmitz, A., Pattacini, U., Nori, F., Natale, L., Metta, G., & Sandini, G. (2010). Design, realization and sensorization of the dexterous iCub hand. In 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 (pp. 186-191). [5686825] (2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010). https://doi.org/10.1109/ICHR.2010.5686825