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The International Journal of Robotics Research
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The UTAH/M.I.T. Dextrous Hand: Work in Progress

S.C. Jacobsen

Center for Biomedical Design Department of Mechanical and Industrial Engineering University of Utah Salt Lake City, Utah 84112

J.E. Wood

Center for Biomedical Design Department of Mechanical and Industrial Engineering University of Utah Salt Lake City, Utah 84112

D.F. Knutti

Center for Biomedical Design Department of Mechanical and Industrial Engineering University of Utah Salt Lake City, Utah 84112

K.B. Biggers

Center for Biomedical Design Department of Mechanical and Industrial Engineering University of Utah Salt Lake City, Utah 84112

The Center for Biomedical Design at the University of Utah and the Artificial Intelligence Laboratory at the Massachu setts Institute of Technology are developing a tendon-oper ated multiple-degree-of-freedom dextrous hand (DH) with multichannel touch-sensing capability. Our goal is the design and fabrication of a high-performance yet well-behaved sys tem that is fast and stable and that includes considerable operational flexibility as a research tool. The paper reviews progress to date on project subtasks and discusses design issues important to hardware and control systems develop ment in terms of (1) structures that contain tendons, actua tors, joints, and sensors; (2) both pneumatic and electric tendon actuation systems; (3) optically based sensors that detect touch; (4) subcontrol systems that provide internal management of the DH; and (5) preliminary higher control systems that supervise general operation of the hand during execution of tasks and that provide integration of vision and tactile information.

The International Journal of Robotics Research, Vol. 3, No. 4, 21-50 (1984)
DOI: 10.1177/027836498400300402
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B. S. R. Armstrong, J. A. Gutierrez, B. A. Wade, and R. Joseph
Stability of Phase-Based Gain Modulation with Designer-Chosen Switch Functions
The International Journal of Robotics Research, August 1, 2006; 25(8): 781 - 796.
[Abstract] [PDF]