Image 1 - CLASH (Compliant Low-cost Antagonistic Servo Hand) was designed during the EU Project Soma to grasp safely and reliably fruits and vegetables. It is a compliant, yet low-cost hand.

All images/graphics may be copyrighted and property of the author, creator and/or DLR.

CLASH

company logo for DLR DLR

Country: Germany

Summary

CLASH (Compliant Low-cost Antagonistic Servo Hand) was designed during the EU Project Soma to grasp safely and reliably fruits and vegetables. It is a compliant, yet low-cost hand.

Status: Prototype, Research

Operation: Autonomous, Other

Robot Type / Domain: Research

Tasks: grasping, handling

Learn More

The Hand CLASH (Compliant Low-cost Antagonistic Servo Hand) was designed during the EU Project Soma to grasp safely and reliably fruits and vegetables. It is a compliant, yet low-cost hand.

System description

A main feature of this hand is that it can adapt the compliance of the fingers passively by changing the pretension of the tendons. Furthermore the compliance can be actively controlled similar to the DLR Hand II. For example if the hand grasps a mango, in the contact phase of the grasp the hand is very soft to reduce the contact forces and increase the area of contact. In the lift phase the hand increases the stiffness to get a stable grasp. This mechanism is inspired by humans hands, where contraction of the muscle leads to an increased hand stiffness.

Technical Specifications

Robot Type: Hand / Gripper

Max. Reach: N/A

Max. Payload: 2 kg

Max. Payload: 4.409 lbs

Weight: 0.64 kg

Weight: 1.411 lbs

Max. Speed: N/A

Max. Slope: N/A

Battery Operated? Tether & battery

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Min. Size: N/A

Max. Size: 110L 60W 78H (mm)

Max. Size: 4.331L 2.362W 3.071H (in)

Mobility: Other

Locomotion Type: Other

Number of Axes: 7 DoF

Manipulation: gripper / hand

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

Show more specs

Degrees of freedom: 7

Joint velocity: 360°/s

Payload: 20N thumb, 10N fingers

Sensors: • 8 tendon force sensors • tactile sensors in palm • human-inspired tendon routing

Controller & Computing: linux computer can be integraded

Power supply: 6–8V

Data Transmission / Communication: USB 1kHz

No more specs to show.

Please visit the official website for more accurate, up-to-date, and complete information on this post. Visit Website

References

Publications

Friedl et al. (2018) CLASH: Compliant Low cost Antagonistic Servo Hands. In: Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf, IROS 2018, 1.-5. Oktober 2018, Madrid [elib]
Friedl et al. (2019) CLASH WRIST - A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration, IROS Workshop: Factory of the Future, November 2019, Macao [elib]
Friedl et al. (2020) CLASH —A Compliant Sensorized Hand for Handling Delicate Objects, Frontiers in Robotics and AI, Januar 2020, https://www.frontiersin.org/article/10.3389/frobt.2019.00138 [elib]

Disclaimer: For informational purposes only. The provided data and/or content are intended as references and may contain errors. We appreciate your help in maintaining accuracy; if you spot any errors, please notify us. For the most reliable and up-to-date information, kindly refer to the official website. By using addoobot and its contents and services, you agree to our Terms and Conditions, Privacy Policy, and Cookie Policy.