Research

Robotic Cooking Setup

The lab is equipped with the UR5-e robot arm that is linked with the BH8-series Barrett Hand.

A robotic arm with a light blue and silver design is shown against a plain white background, featuring a clamp-like gripper at the end. Wires are connected to the arm, indicating it's likely part of a technological setup or industrial automation system.

UR5e and Barrett Hand link

BH-282 Barrett Hand

A robotic arm with a blue and silver hand is depicted, featuring articulated fingers labeled F1, F2, and F3, set against a plain white background. The arm's design suggests functionality, highlighting advanced technology in automation.

Barrett Hand with spread set to 0%

A robotic arm with three articulated segments and blue grippers is positioned against a plain white background, showcasing its mechanical design and functionalities. The arm appears ready for precise movements or tasks.

Barrett Hand with spread set to 50%

A robotic arm with a gray and blue design is positioned against a plain white background, featuring two blue grippers on either side. The arm's mechanical joints and cables are visible, highlighting a technology-focused setting.

Barrett Hand with spread set to 100%

Built by Barrett Technology, the BH8-series Barrett Hand is a multi-fingered programmable grasper with 4 Degrees of freedom (DOF). The Barrett Hand is equipped with tactile sensors on the fingers and the palms. It also has a torque sensor about the last joint in each finger. These provide localized pressure readings across the palm and fingers. For more details regarding the specifications consult the tables below:

Maximum payload
6.0 Kg / 13.23 lb

Finger speed
Finger open to close : 1.0 sec
Full 180 degree spread : 0.5 sec

Kinematics
Total fingers : 3 (1 fixed and 2 rotatable
Total hand axes : 8

Range of motion
Finger base joint : 140°
Fingertip joint : 45°
Finger spread : 180°

Fingertip torque sensors
Range : ±1 Nm
Resolution : ±0.04 Nm

Tactile sensors
Quantity : 96 Active cells
Range : 10 N/cm²
Palm resolution : 0.02 N/cell (cell area = 1.0 cm²)
Finger resolution : 0.01 N/cell (cell area = 0.3 cm²)
Fingertip resolution : 0.01 N/cell (cell area = 0.15 cm²)