Table of Contents
1
Overview
....................................................................................................................................
4
2
Mechanical
Profile
.................................................................................................................
5
2.1
Dimensions
..........................................................................................................................
5
2.2
Kinematic Diagram
.............................................................................................................
6
2.3
Kinematic
structure
............................................................................................................
7
2.4
Weight and Payload
..........................................................................................................
7
2.5
Speed
.....................................................................................................................................
7
2.6
Material
.................................................................................................................................
7
3
Communications
.....................................................................................................................
8
3.1
Motor Hand
Features
........................................................................................................
8
3.2
Control
...................................................................................................................................
8
3.3
Micro-controllers
.................................................................................................................
8
4
Sensing
........................................................................................................................................
9
4.1
Position
..................................................................................................................................
9
4.2
Tactile
Sensing
.....................................................................................................................
9
4.3
Force
......................................................................................................................................
9
4.4
Temperature and Current
................................................................................................
9
4.5
Hand Sensor Node
.............................................................................................................
9
5
Actuation
.................................................................................................................................
10
6
PC and Software
..................................................................................................................
10
6.1
Open platform
..................................................................................................................
10
