shadow dextrous hand

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Shadow Dextrous Hand - Technical Specification Page 2/9

1 Overview..............................................................................................................................................3

2 Mechanical Profile................................................................................................................................32.1 Dimensions....................................................................................................................................3

2.2 Weight...........................................................................................................................................3Table 1: External Dimensions of the an!.........................................................................................32.3 "#ee!............................................................................................................................................$2.$ Material.........................................................................................................................................$

3 %ontrol an! &ct'ation..........................................................................................................................$3.1 Power %ons'm#tion.....................................................................................................................$3.2 &ct'ation......................................................................................................................................$

$ %omm'nications...................................................................................................................................$$.1 ('sses...........................................................................................................................................$$.2 )obot %onfig'ration.....................................................................................................................*

* "ensing..................................................................................................................................................**.1 Position.........................................................................................................................................**.2 +orce.............................................................................................................................................**.3 Tem#erat're an! %'rrent..............................................................................................................*

, -inematics............................................................................................................................................,,.1 -inematic str'ct're.......................................................................................................................,Table 2: oints an! )anges of Motion................................................................................................,,.2 -inematic /a0o't..........................................................................................................................

"0stem iew.........................................................................................................................................

.1 Electronics.....................................................................................................................................2 Onboar! control...........................................................................................................................3 Offboar! control..........................................................................................................................4.$ Microcontrollers..........................................................................................................................4.* "mart Motor no!es......................................................................................................................4., an! sensor no!e..........................................................................................................................4. O#en #latform...............................................................................................................................4

4 O#tions.................................................................................................................................................54.1 /eft an!......................................................................................................................................54.2 %0ber6love integration.................................................................................................................5

Revision History:2008-06-01: C6M release version2008-07-03: Corrections and clarifications2009-08-15: Updated to final motion characteristics.

Specification Release Date: 2009-0-!"


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1 Overview

The Shadow Dextrous Hand is an advanced humanoid robot hand system thatprovides 24 movements to reproduce as closely as possible the degrees-of-freedom of the human hand. t has been designed to provide comparable forceoutput and movement sensitivity to the human hand.

The model !"# Hand uses Shadow$s electric %Smart #otor& actuation system'rather than the pneumatic (ir #uscle actuation system of other Dextrous Handsystems. The %Smart #otor& integrates force and position control electronics'motor drive electronics' motor' gearbox' force sensing and communications intoa compact unit.

The Shadow Dextrous Hand is a self-contained system ) all actuation andsensing re*uired is built into the Hand. The Shadow Dextrous Hand systemincorporates all necessary control systems +software provided under , ,/01

and documentation for research and teaching purposes.Shadow Hand systems have been used for research in grasping' manipulation'neural control' and haardous handling.

2 Mechanical Profile

2.1 Diensions

The Hand has been designed to be as similar as possible to the average malehand. The fingers are all the same length' although the 3nuc3les are staggeredto give comparable fingertip locations to the human hand.

2.2 !ei"ht

The Hand system' +Hand' sensors' and all motors1 has a total weight of 4 3g.

inger length

from tip of finger to middle of 3nuc3le

562mm

Thumb lengthfrom tip of finger to middle of 7oint 4

564mm

/alm length

from middle 3nuc3le to wrist axis

88mm

/alm thic3ness 22mm

/alm width 94mm

Thumb base thic3ness :4mm

orearm

base to wrist axis

269mm

Table 1: External Dimensions of the Hand


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2.# Speed

#ovement speed is dependent on safety settings in the force control system.Typically you can expect a full-range 7oint movement to operate at a fre*uencyof up to 2 H.

2.$ Material

The entire system is built with a combination of metals and plastics.

orearm; (luminium' resin shell.

/alm; (cetyl' aluminium' polycarbonate.

ingers; (cetyl' aluminium' polycarbonate fingernails and polyurethane flesh.

# Control and %ctuation

#.1 Power Consuption

The !"# Dextrous Hand is designed to use motor technology.

9 ?.

#otors; 2 ( max > 24 ?.

Separate power supplies are provided with the Hand.

#.2 %ctuation

The Hand is driven by 26 Smart #otor units mounted below the wrist whichprovide compliant movements. ollowing the biologically-inspired designprinciple' a pair of tendons couple each Smart #otor to the corresponding 7ointof the Hand. ntegrated electronics in the Smart #otor unit drives a high-efficiency rare-earth motor' and also manages corresponding tendon forcesensors.

The Smart #otor unit is designed to ensure that the system is safe at all times.t monitors tendon forces and 3eeps them within defined limits' preventing theHand from over-gripping ob7ects. #otor temperature management preventsoverheating of individual motors.

$ Counications

$.1 &usses

The standard interface to the Hand is a !ontroller (rea etwor3 +!(1 bus. The!( interface has been tested with standard controller cards as well as theinterface card supplied with the host computer.

(ll sensor data' components' configuration and controller setpoints can beaccessed over this bus. ( simple protocol developed by Shadow is used for thecommunication. !ode for protocol interface is supplied as part of the , ,/0-

licensed codebase only@ alternate licensing is also available as an option.


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(n embedded


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6 +ineatics

The Dextrous Hand 3inematics are as close as possible to the 3inematics of thehuman hand +c.f. ig. 5 below1

6.1 +ineatic structureinger Boint !onnects Cange in !oupledE

irst'#iddle'

Cing

5 Distal - #iddle 6 ) F86

2 #iddle - /roximal 6 ) F86!oupled

: /roximal - Gnuc3le 6 ) F86

4 Gnuc3le - /alm -2 ) F2

0ittle

5 Distal - #iddle 6 ) F86

2 #iddle - /roximal 6 ) F86!oupled

: /roximal - Gnuc3le -56 ) F86

4Gnuc3le -

#etacarpal-2 ) F2

#etacarpal ) /alm 6 ) F46

Thumb

5 Distal - #iddle -56 ) F86

2 #iddle-/roximal 5 -:6 ) F:6

: #iddle-/roximal 2 -5 ) F5

4 /roximal-/alm 5 6 ) F= /roximal-/alm 2 -"6 ) F"6

Irist5 /alm-Irist -46 ) F26

2 Irist-orearm -:6 ) F56

Table 2: Joints and Ranges of Motion

The thumb has degrees of freedom and 7oints.


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6.2 +ineatic ,a-out

S-ste /iew

.1 0lectronics

Jus; !ontroller (rea etwor3 +!(1 bus interface to on-board electronics.Kptional


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7oints. This control can be flexibly configured to ta3e set point and target datafrom a variety of sources. These controllers can be configured via the standardrobot interface' and appropriate programs' scripts and graphical examples ofthis are provided.

.# Off(oard control( standard x9"-compatible /! running Debian ,A0inux with the CT( real-timesystem and ShadowLs ,/0 robot code is supplied. This can be used for initial setup' evaluation and operation' as well as serving as a template for your owncontrol system. The /! is fitted with an external !( bus interface.

Software in the host /! provides sensor calibration and scaling' mappings fromsensor names to hardware and permits easy access to all robot facilities from !code' shell scripts' or ,.

.$ Microcontrollers#icrochip /!59xx96 micros are used for embedded control throughout therobot system. The firmware is provided as source on the host /!. (ll micro-controllers are connected to the robot !( bus.

.) Sart Motor nodes


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pac3ages.

Software layer supports easy interfacing between this and other systems' aswell as *uic3 prototyping of algorithms and tools.

OptionsThe following options may be selected at the time of ordering.

.1 ,eft Hand

The 0eft Hand is functionally identical to the standard Hand' but mirrored for usein a bi-manual system.

.2 C-(er3love inte"ration

The Dextrous Hand system can be supplied integrated with a !yber,love for lab

or remote use.

Fig 2: Cber!lo"e

shadow dextrous hand

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