Festo_BionicSoftHand_en

Technical data • Length of gripper fingers: 4 × 98 mm 1 × 79 mm (small gripper finger) • Degrees of freedom of the hand: 12 • Operating pressure: . . . . . 3.5 bar (gripper fingers) 6.0 bar (swivel modules) • Maximum load capacity: . . . Up to 4 kg (depending on orien- tation) Material: • Skin: Silicone • Textile fabric: Dyneema ® • Bellows: EPDM with shore hardness of ~45 • Housing: . . . . . . . . . 3D printing material • Airflow plate: . . . . . . . . Resin, produced in the stereo- lithography process Sensor technology: • 1 inertial sensor in the back of the hand • 10 inertial sensors in the gripper fingers • 15 tactile force sensors in the gripper fingers • 14 pressure sensors in the airflow plate • Pneumatic drives: . . . . . . 2 EV swivel modules • Valve technology: . . . . . . 12 piezo cartridges from the Festo Motion Terminal VTEM • Computer vision: 1 Leap Motion depth-sensing camera • Dyneema ® is a registered trademark of DSM IP Assets B.V., Heerlen, Netherlands Project participants Project initiator: Dr Wilfried Stoll, managing partner, Festo Holding GmbH Project management: Karoline von Häfen, Dr Elias Knubben, Festo AG & Co. KG Idea and concept: Prof. Dieter Mankau, Frankfurt am Main Project team: Christian Ebert, Ebert Zobel Industrial Design GbR, Frankfurt am Main Dr Alexander Hildebrandt, Mart Moerdijk, Timo Schwarzer, Sebastian Schrof, Philipp Steck, Julia Gastinger, Manuel Rausch, Micha Purucker, Paolo Rüegg, Christian Schweizer, Festo AG & Co. KG Reinforcement Learning: Jan Koutnik, Zdenek Buk, Vojtech Micka Nnaisense SA, Lugano, Schweiz Textile technology: Walter Wörner, Gesellschaft für textilen Service mbH, Pfullingen Festo AG & 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 fesd018 en 3/2019