Wessling Robotic Hand

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.

Main features

Humanoid kinematics and dexterity

The Wessling Robotic Hand is composed of 5 modular designed robotic fingers. Each finger consists of 3 actuated degrees of freedom and a further coupling joint, which offers 15 actuated degrees of freedom and 20 joints for the Wessling Robotic hand in total. The total number of joints and their movement ranges, as well as the size and outer shape, are designed to be very close to that of a human hand. Further option on additional rotational joint for the thumb is currently in prototype phase and will be released soon.

Modular designed finger

Each of the finger on Wessling Robotic Hand is modular designed and identical to each other. All actuators, electronics, multi-sensory system, and mechanical transmission system are fully integrated in the individual fingers, which reduces the complexity of manufacture and maintenance, and also offers great re-configurability of the Wessling Hand.

Multi-sensory system

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.