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Most robotic hands and grippers rely on actuators with large gearboxes andforce sensors for controlling gripping force. However, this might not be idealfor tasks which require the robot to interact with an unstructured and/orunknown environment. We propose a novel quasi-direct-drive two-fingered robotichand with variable impedance control in the joint space and Cartesian space.The hand has a total of four degrees of freedom, a backdrivable gear train, andfour brushless direct current (BLDC) motors. Field-Oriented Control (FOC) withcurrent sensing is used to control motor torques. Variable impedance controlallows the hand to perform dexterous manipulation tasks while being safe duringhuman-robot interaction. The quasi-direct-drive actuators enable the fingers tohandle contact with the environment without the need for complicated tactile orforce sensors. A majority 3D printed assembly makes this a low-cost researchplatform built with affordable off-the-shelf components. The hand demonstratesgrasping with force-closure and form-closure, stable grasps in response todisturbances, tasks exploiting contact with the environment, simple in-handmanipulation, and a light touch for handling fragile objects.

Development of a Novel Impedance-Controlled Quasi-Direct-Drive Robot Hand