Abstract
Current research on a versatile mechanical hand for robotic arms is described. This mechanical hand is a self-contained, autonomous system capable of executing high-level commands from a supervisory computer. It consists of parallel fingers powered by a DC motor and controlled by a microcomputer embedded in the hand housing. Sensors are integrated in the hand for measuring grasp force of fingers and forces and torques applied between the arm and the surrounding environment. Fingers can be moved in position control, velocity control, or force control modes, and all collected data are transmitted to the supervisory computer. Data on performance and effectiveness in teleoperation experiments are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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