Redundant sensorized arm+hand system for space telerobotized manipulation

Abstract

An integrated system, composed of an arm, a wrist, and a mechanical multifingered hand is treated. The hand is on development for possible application in telemanipulation, and is realized in separate parts. The redundancy of the degrees of freedom of the system, the sensors, the application of logical rules, and the supervision of teleoperators may be applied in order to have an optimum of reliability of the system in space telemanipulations.