Technical data BionicSoftHand 2.0 • Degrees of freedom of the hand: ..................... 11, including wrist • Weight of the hand: ....................................................... 1,295 kg • Maximum load capacity: ... up to 4 kg (depending on orientation) • Operating pressure manual or swivel modules: ............ 5 or 6 bar • Pneumatic drives: ................................1 DRVS semi-rotary drive, ............................................................3 DSNU/DSNU-S cylinders • Valve technology: .................. 12 piezo cartridges from the VTEM • Computer vision: .................. 1 Intel® RealSense™ depth camera Material: • Textile fingers: ................................... technical 3D-knitted fabric • Bellows: ................................. EPDM with shore hardness of ~45 • Housing and wrist: .................................... 3D-printed polyamide • Airflow plate: . ........................................................... epoxy resin Sensor technology: • 10 bending sensors for finger position, 1 inertial sensor • 113 tactile force sensors inside the glove (matrix design) • 14 pressure sensors in the airflow plate DynaArm • Total weight (including BionicSoftHand 2.0): ........................ 8 kg • Payload: ................................................................................ 8 kg • Range: ............................................................................ 850 mm • Angle of rotation: ............................................ 180 ° in each joint • Degrees of freedom: ............................................. 4 swivel joints • Drives: .......................... 4 V2 DynaDrives with 48 V, 32 A, 980 W Ballbot • Total weight: .................................................................... 21,9 kg • Battery: ............................................................ LiPo battery, 48 V • Drives of the omniwheels: .................................. 3 V2 DynaDrives • Sensor technology: ............... 1 inertial measurement unit (IMU), ............................................ 2 Intel® RealSense™ depth cameras Festo SE & Co. KG Ruiter Strasse 82 73734 Esslingen Germany Phone +49 711 347-0 Fax +49 711 347-21 55 cc@festo.com www.festo.com/bionics fesd-045 en 4/2020 Project participants Project initiator: Dr Wilfried Stoll, managing partner, Festo Holding GmbH Project management: Karoline von Häfen, Dr Elias Knubben, Festo SE & Co. KG Project team: Mart Moerdijk, Timo Schwarzer, Sebastian Schrof, Philipp Steck, Chloe Dickson, Li Zhong Yong, Lars Schillinger, Mathias Baumann, Festo SE & Co. KG Design: Jörg Peschel, Philipp Eberl, Sebastian Schrof, Festo SE & Co. KG, Genesis Design, Munich and IMM Studios, Renningen DynaArm and ballbot: Professor Marco Hutter, Maria Vittoria Minniti, Dhionis Sako, Jan Preisig, ETH Zurich Textile technology: Walter Wörner, Gesellschaft für textilen Service mbH, Pfullingen Sensor technology for matrix sensors: LOOMIA Technologies Inc, New York, USA
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