The multi-sensory dexterous robotic hand is composed with five identical, modular designed robotic fingers. Each finger consists of 4 joints with 3-DoF, which offers 15-DoF for the hand in total. Each DoF is active and integrated with torque and positions sensors, which guarantees real-time, reliable joint torque and position feedback for every DoF of the finger.
Humanoid kinematics and dexterity
Modular designed finger
Joint torque sensors and position sensors are integrated in every active degree of freedom of the Wessling Robotic Hand. Real-time sensor feedback is provided via special designed compact real-time communication system inside the fingers and the palm of the robotic hand. Further option on BioTac SP sensor is under-development currently, and will be released soon.
Active compliant control performance based on multi-sensroy feedback
In order to enable the robots to work in vicinity of and together with humans, human-friendly design concept was not only carried out for the mechatronics system, but also merged into the active compliant control strategy of the Wessling hand, based on the multi-sensory feedback on joint torque and position.