Shadow Dexterous Hand Technical Specification E1 20130101

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Shadow Dexterous Hand Technical Specification

Shadow Dexterous Hand E1 Series(E1M3R, E1M3L, E1P1R, E1P1L)

Technical Speci icationRelease: 1 January 2013

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Table of Contents

1 !"er"iew#######################################################################################################

% Mechanical Pro ile############################################################################################

2!1 Di"ensions!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!#

2!1!1 $otor Hand %&1$3R' &1$3()!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!#2!1!2 *ir $uscle Hand %&1+1R' &1+1()!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ,

2!2 -ine"atic Dia.ra"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

2!3 -ine"atic structure!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

2! ei.ht!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

2!# Speed!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

2!, $aterial!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

3 'o unications#################################################################################################

3!1 $otor Hand eatures!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

3!2 *ir $uscle Hand eatures!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

3!3 4ontrol!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

3! $icro5controllers!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

$ Sensin*#######################################################################################################

!1 +osition!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

!2 Tactile Sensin.!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

!3 orce %$otor Hand only)!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

! Te"perature and 4urrent %$otor Hand only)!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

!# +ressure %*ir $uscle Hand only)!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

!, Hand Sensor 6ode!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!10

& ctuation######################################################################################################

#!1 S"art $otors %$otor Hand only)!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!11

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#!2 7al8e Dri8ers %*ir $uscle Hand only)!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!11

- P' and So tware###############################################################################################1

,!1 9pen platfor"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!11

,!2 R9S!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!11

. Power#########################################################################################################

!1 $otor Hand 4onsu"ption!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!12

!2 *ir $uscle Hand 4onsu"ption!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!12

/ !ptions########################################################################################################

!1 (eft Hand!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!12

!2 4y er;lo8e


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1 Overview The Shadow Dexterous Hand is an ad8anced hu"anoid ro ot hand syste" that pro8ides 2"o8e"ents to reproduce as closely as possi le the >ine"atics and dexterity of the hu"anhand!


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2 Mechanical Profile

2.1 Dimensions The Hand has een desi.ned to e si"ilar in shape and si@e to a typical "ale hand' andreproduce as closely as possi le the >ine"atics and dexterity of the hu"an hand! The fin.ersare all the sa"e len.th' with the >nuc>les sta..ered to .i8e co"para le fin.ertip locations tothe hu"an hand!

2.1.1 Motor Hand (E1M3 ! E1M3"#

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2.1.2 $ir M%scle Hand (E1P1 ! E1P1"#

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2.2 &inematic Dia'ram

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2.3 &inematic str%ct%re The Dexterous Hand >ine"atics are opti"i@ed to e as close as possi le %within en.ineerin.constraints) to the >ine"atics of the hu"an hand!

0oint(s)De*rees Radians

otesMin Max Min Max

1' $ 1' R 1' ( 1 0 0 0 1!# 1 4oupled

2' $ 2' R 2' ( 2 0 0 0 1!# 1

3' $ 3' R 3' ( 3 0 0 0 1!# 1

' $ ' R ' ( 520 20 50!3 0!3

( # 0 # 0 0! #

TH1 0 0 0 1!# 1

TH2 52# 2# 50! 3, 0! 3,

TH3 512 12 50!20 0!20

TH 0 0 0 1!222

TH# 5## ## 50! ,0 0! ,0

R1 5 # 30 50! # 0!#2

R2 52 50! 0!1 0

The thu" has # de.rees of freedo" and # Eoints! &ach fin.er has 3 de.rees of freedo" and Eoints!

The distal Eoints of the fin.ers are coupled in a "anner si"ilar to a hu"an fin.er' such that thean.le of the "iddle Eoint is always .reater than or e?ual to the an.le of the distal Eoint! Thisallows the "iddle phalan.e to end while the distal phalan.e is strai.ht! The little fin.er has anextra Eoint in the pal" pro8ided to allow opposition to the thu" !

*ll Eoints except the fin.er distal Eoints are controlla le to F/5 1G across the full ran.e of"o8e"ent!

2. )ei'ht The hand and forear" ha8e a total wei.ht of !2 >.!

2.* +,eed$o8e"ent speed is dependent on safety settin.s in the control syste"! Typical para"etersallow a full5ran.e Eoint "o8e"ent in free space to operate at a fre?uency of 1!0 H@ for the$otor Hand and 0!2 H@ for the *ir $uscle Hand!

2.- Material The entire syste" is uilt with a co" ination of "etals and plastics includin. alu"iniu"' rass'acetyl' polycar onate and polyurethane flesh! The *ir $uscle Hand has additional "aterialsincludin. ru er' nylon and cor>!

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3 Comm%nications*ll 8ersions of the Hand use an &ther4*T us! &ther4*T %&thernet for 4ontrol *uto"ation

Technolo.y) is a 100$ ps ethernet5 ased field us!


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+ensin'*ll sensor data are presented to the +4 at 8arious rates dependin. on the rate settin. for thatsensor! Typical rates are:

2pdate Rate its

Position 1000 H@ 12

PST #00 H@ 11

4orce #000 H@ 12

Te perature 100 H@ 12

'urrent 100 H@ 12

5olta*e 100 H@ 12

ir Pressure 1000 H@ 12

.1 Position* Hall effect sensor senses the rotation of each Eoint locally with typical resolution 0!2 de.rees!

This data is sa"pled in the Hand y 125 it *D4s! Data is pro8ided to the co""unication us inraw for"' and is cali rated at the host!

.2 Tactile +ensin'*ll Shadow Hands ha8e +ressure Sensor Tactiles %+STs) fitted as standard in the fin.ertips! Theyare a sin.le re.ion sensor with hi.h sensiti8ity! The data is sa"pled y an 115 it *D4! Rawte"perature co"pensated data is a8aila le!

The +STs can e su stituted for other tactile sensors %see section: 9ptions)! * protocol in the

pal" fir"ware can detect different types of co"pati le sensors and confi.ure the" correctly!

.3 orce (Motor Hand onl0#* separate force sensor "easures the force in each of the pair of tendons dri8en y the S"art$otor unit! This data is captured y 125 it *D4s and used locally for tor?ue control! The dataare also trans"itted ac> to the +4! The sensors ha8e a resolution of a out 30"6! They are@eroed' ut not cali rated!

tion us in raw for"' and is cali rated at the host! 9ther sensors can e attached to the Handsensor node y re?uest and arran.e"ent!

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* $ct%ation

*.1 +mart Motors (Motor Hand onl0#&ach of the twenty S"art $otor nodes dri8es a $axon "otor usin. + $! The S"art $otor nodei"ple"ents a +a.es are installed

y default on the co"puter! The software is ased on the R9S "eta5operatin. syste"!

Software in the host +4 pro8ides sensor cali ration and scalin.' "appin.s fro" sensor na"esto hardware' and per"its easy access to all ro ot facilities fro" +ython and/or 4FF!

-.1 O,en ,latform *ll source code for the "icro5controllers and sche"atics for the electronics su syste"s are

a8aila le on re?uest under 6on5Disclosure *.ree"ent %6D*)! &xa"ple code alon. with docu"entation is pro8ided' alon. with access to e5"ail support

fro" Shadow! Solid "odels %7R$() and >ine"atic data are supplied 8ia R9S! *n open software layer supports easy interfacin. etween this and other syste"s' as well as

?uic> prototypin. of al.orith"s and tools!

-.2 O+ The Shadow Dexterous Hand is fully co"pati le with R9S %Ro ot 9peratin. Syste"www!ros!or.) pro8idin. a full ran.e of capa ilities includin.: 4ontrol 7isualisation Si"ulation

The sr hand pac>a.e pro8ides a si"ulated "odel of the Hand runnin. in the ;a@e o si"ulator!


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Power+ower supplies are pro8ided with the Hand %4o"pressor not included)!

.1 Motor Hand Cons%m,tion 7 K 2!# *

.2 $ir M%scle Hand Cons%m,tion 7 K 1!0 * 4o"pressed air %filtered and oil free) K 3!# ar! &ach "uscle has a 8olu"e of 0!01# litres so "axi"u" consu"ption for a full Hand is 2

litres/"in! e reco""end a co"pressor that can pro8ide ar' with a flow rate of 1 cf"' areser8oir of 3 litres or "ore' and if it will e around people' ultra5?uiet %approx! 0d=/1")! *re.ulator is included with all *ir $uscle Hands!

4 O,tions The followin. options "ay e selected at the ti"e of orderin.!

4.1 "eft Hand The (eft Hand is functionally identical to the standard Hand' ut "irrored for use in a i5"anualsyste"! $odels &1$3( and &1+1(

4.2 C0ber5love 6nte'ration The Dexterous Hand syste" can e supplied inte.rated with a 22 sensor 4y er;lo8e for la orre"ote use!

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4.3 7ioTac 6nte'ration+roduced y Syntouch' the =ioTac is a re8olutionary tactile sensor capa le of detectin. the fullran.e of sensory infor"ation that hu"an fin.ers can detect: forces' "icro58i rations' andte"perature!

Raw data collected fro" the =ioTac in clude: 7olta.es on i"pedance sensin. electrodes * solute fluid pressure %D4 +ressure) Dyna"ic fluid pressure L 8i ration %*4 +ressure) Te"perature %D4 Te"perature) Heat flow %*4 Te"perature)

Si.nal processin. of these data ena les the =ioTac to do "any thin.s that hu"ans can do ytouch' such as : Deter"ine point of contact &sti"ate tri5axial forces &sti"ate radius of cur8ature of a contacted o Eect Discri"inate ed.es' corners' and flat surfaces Sense initial contact' with a re"ar>a ly hi.h sensiti8ity Detect slip Discri"inate o Eects ased on their texture Discri"inate o Eects ased on their co"pliance Discri"inate o Eects ased on their ther"al properties

Shadow has partnered with Syntouch and pro8ides a full inte.ration option

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8 Chan'e list

Date Person 'han*es

21 Dece" er 2012 *r"ando De (aRosa T!

Ap.raded to &1 series! This docu"ent now includes an&ther4*T 8ersion of the *ir $uscle Hand

21 *u.ust 2012 ;a8in 4assidy $inor chan.e to section six' para.raph two!

2 June 2012 ;a8in 4assidy Docu"ent title updated

2 June 2012 *r"ando De (aRosa T!

4larifications to control strate.ies

2 $ay 2012 ;a8in 4assidy Apdated ran.es in 2!2 -ine"atic structure

12 Jan 2012 Hu.o &lias Apdated >ine"atic dia.ra"*dded di"ensions dia.ra"*dded &ther4*T hand spec*dded 4*6 8s &ther4*T co"parison ta leApdated loo> and feel

1 6o8 2011 Apdated to 4,$2' includin. a nu" er of corrections!

1# *u. 200 Apdated final "otion characteristics

3 Jul 200 4orrections and clarifications

1 Jun 200 4reated docu"ent

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Documents

Shadow Dexterous Hand Technical Specification E1 20130101