Haptic robot HIRO III

Specifications

HIRO III consist of an arm and five haptic fingers. The arm has 6 degrees of freedom (DOF), and the hand has 15 DOF - 21 DOF in total.

ARM

robot arm assembly

Three arm joints (#1, #2, #3) simulate the shoulder having 3 DOF.  One joint (#4) with 1 DOF is for the elbow. The rest of two joints (#5 and #6) with 2 DOF represent wrist. Joint angles are given in the table bellow.

  Range of Movement (deg)
The first joint ±110
The second joint -125...0
The third joint 0...+145
The fourth joint ±90
The fifth joint ±90
The sixth joint ±60

Arm's workspace is shown in the following scheme.

robot arm worspace

HAND

robot hand assembly

HIRO III hand has five fingers. Each of five fingers has three joints with 1 DOF per joint - 15 DOF in total. The design of four fingers - index, middle, ring, small - is the same. The table bellow presents the range of joints' movements.

 

Range of Movement (deg)

The first joint

±30

The second joint

-30...+90

The third joint

0...+112

Thumb desing and joints' range is different, and given bellow.

 

Range of Movement (deg)

The first joint

±36

The second joint

-35...+90

The third joint

0...+112

The three-axis sensors are mounted at the fingertips to detect the forces. Force resolution is 0.01N, maximum value - xxxN.

The workspace of the finger is shown in the following scheme.

robot finger workspace

HIRO III principal data

Weight of the hand and arm - xxx kg

Number of DOF - 21

User displayed force - up to 5 N per finger

HIRO III operating system - ART Linux

Sampling time - 1 ms

Power consumption - 1500 W