Shadow Hand

The Hand is commercially available in pneumatic- and electric-actuated models and currently used in a wide range of institutions including NASA, Bielefeld University and Carnegie Mellon University, and EU research projects such as HANDLE.

The little finger has an extra one-axis joint on the metacarpal to provide the Hand with a palm curl movement.

The motor hand is driven by 20 DC motors in the forearm, whereas the muscle hand is powered by 20 antagonistic pairs of Air Muscles in the forearm.

All hands have Hall effect sensors integrated into every joint to provide precise positional feedback.

A simulation of the Shadow hand can be downloaded and installed in ROS.