Dextrous Hand System C6P

Shadow

Overview

24 muscle-powered movements; 20 degrees of freedom
40 forearm-mounted muscles
Pneumatic valves and controllers integrated into Hand base
Position sensing on all joints
CAN 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
Pressure sensing on all 40 muscles
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

This is the "Standard" Air Muscle (Pneumatic) Hand System, with the same movements as the Human hand.
The Shadow Muscle Hand contains an integrated bank of 40 Air Muscles providing 24 movements, allowing a direct mapping from a human to the robot. The muscles are compliant, which allows the Hand to be used around soft or fragile objects.
The Shadow Muscle Hand has integrated sensing and position control, using joint position and muscle pressure sensors to facilitate precise control from off-board computers, or integration into your existing robot platform.
The Shadow Muscle 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 C6P Dextrous Hand

Addition of multi-region tactile sensing regions on each finger and thumb, sensitive between 10g and 1kg
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