key point to improve robotic dexterity is represented by the end effectors,
installed on the manipulators, through which interaction with objects
and environments takes place. A research program aimed to the realization
of articulated sensorized robotic hands, the UB Hand (University
of Bologna dexterous Hand) Version I and II, has been carried out
of a first part of this activity have been the realization and
experimentation of a prototype, the UBH Version I (1986-1990),
and its installation on an IBM 7565 gantry robot. A second phase
of this project has been carried out in the framework of the
Special National Program on Robotics, C.N.R.. This project has
been based on five Research Units which are focused on relevant
research topics, namely:
- DEIS, University
of Bologna, for the control aspects, responsible Prof. C.
- DIEM, University
of Bologna, for the mechanical design and realization, responsible
Prof. G. Vassura;
- CIOC, University
of Bologna, for the computational architecture design, responsible
Prof. E. Faldella;
- DII, University
of Parma, for task planning and high-level control problems, responsible
Prof. S. Caselli;
- DSEA, University
of Pisa, for manipulation problems, responsible Prof. G. Casalino.
second prototype of the hand, the UBH Version II has
been realized, and installed on a PUMA 560 equipped with a special
The UB Hand project has raised a number of theoretical and experimental
issues, which are reported in many points of this report, and
which originated several interesting scientific collaborations.
Moreover, the UBH Version II has been presented in several national
and international events: EXPO'92, Seville, Spain (1992), EMO'95,
Milano, May 1995; ICAR'95, Sant Feliu de Guixols, Spain, Sept.
1995; ERA'95, Trieste, Oct. 1995.