Dextrous Hand System C6ME

Shadow

Overview

24 movements; 20 degrees of freedom
20 integrated Smart Motor units providing opposing tendon drive of the joints (2 tendons per motor)
Dynamic force control of tendons by Smart Motor unit to provide compliance
Motor current and temperature sensing integrated into control
Position sensing on all joints
Force sensing on all tendons at Smart Motor
EtherCAT interface, host PC and power supplies
Single-region pressure sensor on all fingertips for contact sensing
Mounting fixtures on forearm section for attachment to a platform, to be specified by you
Open-source software provided, with access to our CVS repository
Kinematic and geometric data for modelling in ROS
Electronics schematics and system firmware sources supplied
System documentation
One year's Full Support and Service

The Shadow Motor Hand uses Shadow's electric "Smart Motor" actuation system, rather than the pneumatic Air Muscle actuation system of other Dextrous Hand systems. The "Smart Motor" integrates force and position control electronics, motor drive electronics, motor, gearbox, force sensing and communications into a compact unit.
The Shadow Motor Hand allows precise manipulation control from off-board computers, or integration into your existing robot platform. It can be fitted with a number of touch sensing options to increase its level of interaction with its surroundings.
The Shadow Dextrous Hand system incorporates all necessary control systems (software provided under GNU GPL) and documentation for research and teaching purposes.
The Shadow Motor Hand can be fitted with a number of touch sensing options to increase its level of interaction with its surroundings. As standard, the Shadow Hand comes with analogue contact sensing regions on all fingertips.

Available options and Extras for C6ME Dextrous Hand

Addition of multi-region tactile sensing regions to fingertips
Delivery to Europe, installation, configuration and setup by Shadow. Includes basic training
Full Support and Service (return-to-base) per annum after first year
Overhaul Hand system returned to us outside Service agreement

Kinematic Layout

A rendering of the kinematic structure of the Hand. Each large cylinder represents one joint of the Hand, aligned approximately at the "at rest" angle.
Shadow Dextrous Hand C6ME Kinematic Layout