ShadowHands#
front |
back |
left |
right |
Shadow Dexterous Hand, designed by Shadow Robot, allows researchers to manipulate tools and objects with greater precision and control. The Shadow Dexterous Hand has 24 joints. It has 20 degrees of freedom, greater than that of a human hand. It has been designed to have a range of movement equivalent to that of a typical human being. The four fingers of the hand contain two one-axis joints connecting the distal phalanx, middle phalanx and proximal phalanx and one universal joint connecting the finger to the metacarpal. The little finger has an extra one-axis joint on the metacarpal to provide the Hand with a palm curl movement. The thumb contains one one-axis joint connecting the distal phalanx to the proximal phalanx, one universal joint connecting the thumb to the metacarpal and one one-axis joint on the bottom of the metacarpal to provide a palm curl movement.
Specific Actions#
The information in this section pertains to the task. For details, please refer to the specific task documentation.
Specific Observations#
Index |
Description |
|---|---|
0 - 23 |
right Shadow Hand dof position |
24 - 47 |
right Shadow Hand dof velocity |
48 - 71 |
right Shadow Hand dof force |
72 - 136 |
right Shadow Hand fingertip pose, linear velocity, angle velocity (5 x 13) |
137 - 166 |
right Shadow Hand fingertip force, torque (5 x 6) |
167 - 169 |
right Shadow Hand base position |
170 - 172 |
right Shadow Hand base rotation |
173 - 198 |
right Shadow Hand actions |
199 - 222 |
left Shadow Hand dof position |
223 - 246 |
left Shadow Hand dof velocity |
247 - 270 |
left Shadow Hand dof force |
271 - 335 |
left Shadow Hand fingertip pose, linear velocity, angle velocity (5 x 13) |
336 - 365 |
left Shadow Hand fingertip force, torque (5 x 6) |
366 - 368 |
left Shadow Hand base position |
369 - 371 |
left Shadow Hand base rotation |
372 - 397 |
left Shadow Hand actions |