The KIT Robotic Hands - A Scalable Humanoid Hand Platform With Multi-Modal Sensing and In-Hand Embedded Processing
Julia Starke, Felix Hundhausen, Pascal Weiner, Samuel Rader, Engjell Hyseni, Tamim Asfour
Abstract
Humanoid robotic hands need to be versatile and capable of providing environmental information in order to serve as a platform for intelligent grasp control. To facilitate the design process of such hands, we present the KIT Robotic Hands. They have been designed to meet diverse application requirements through their scalability in size, actuation, sensorization and computing resources. The hands integrate a multi-modal sensor system, in-hand embedded processing capabilities, an adaptive underactuated mechanism and a continuously controllable thumb rotation to enhance dexterity. The flexibility of the design is demonstrated through two application-specific hand implementations: one is the ARMAR-7 hand, which has human hand dimensions for grasping daily objects in household tasks, the other is the ARMAR-DE hand, a larger hand designed for grasping bigger objects in decontamination tasks. We describe the design and mechatronics of the hands as well as an evaluation of the grasp success and image segmentation based on an in-hand integrated camera and onboard processing of visual data.
BibTeX
@inproceedings{iros2025_thekitrobotichan,
title = {The KIT Robotic Hands - A Scalable Humanoid Hand Platform With Multi-Modal Sensing and In-Hand Embedded Processing},
author = {Julia Starke and Felix Hundhausen and Pascal Weiner and Samuel Rader and Engjell Hyseni and Tamim Asfour},
booktitle = {IROS 2025},
year = {2025}
}