H2 Compliant Hand: Letting the Body do the Thinking
The Meka H2 Compliant Hand is a fully-contained five degree-of-freedom underactuated hand. It is approximately human size with intrinsic physical compliance and force feedback, making it ideal for researchers interested in dexterous manipulation within human environments. The H2 lets the body do the thinking. Its underactuated and compliant fingers allow it to robustly power grasp a wide range of everyday object without complex grasp planning.
The H2 fingers utilized a dual durometer urethane construction, providing a soft finger pad and a rigid yet deformable link structure. This improves the hand robustness, impact tolerance, and allows for passive adaptation to geometric uncertainty.
Features
- 5 Series Elastic Actuators driving 12 joints
- Dual durometer urethane fingers
- Underactuated finger design
- Thumb abduction
- Tendon tension and position sensors
- Absolute encoders for calibration free operation
- Meka M3 and ROS software stacks
The H2 supports the following of sensing options:
- 6 axis ATI Mini-40 Force-Torque Sensor at the tool plate.
- Point Grey FireFly MV camera for eye-in-hand perception.
| Total DOF | 12 |
|---|---|
| Actuated DOF | 5 |
| Interface | M3 EtherCAT |
| Motor Power | 24V@3A peak |
| Digital Power | 9-15V@300mA |
| Weight | 800 g |
| Grasp Payload | 2 Kg |
| Angular Resolution | .022 degree |
| Open-Close Speed | .8 s |