• ARCNET
• BarrettHand
• IO-Warrior 24
• Laser Range Finders
• Manipulator System
• Omnidirectional Vision
• Active Stereo-Head

BarrettHand

To be able to work in a normal office environment an artificial hand is mounted as tool on the robot arm. A BH-262 BarrettHand was chosen because it perfectly meets the requirements concerning weight, size of the hand, size of the controller and power of the fingers. The hand is controlled via a serial interface. To enable force control during grasping each finger of the hand is equipped with a strain gauge sensor. Additional a jAi microhead camera is mounted at the BarrettHand.

We developed the BHandLib, a C++ library encapsulating the serial communication between hand and workstation. An OpenGL model is also integrated in the library. Contact Tim Baier-Löwenstein for your personal copy.