Description and deploy packages for the dextivr Hand-E gripper. This package wraps the Robotiq Hand-E gripper with custom fingers for use in iMETRO. These fingers enable easier grabbing of handles, containers, and other commonly manipulable objects in iMETRO.
Options are listed in the dextivr xacro.
The Hand-E pictured with finger_v6 fingers:
This project falls under the purview of the iMETRO project. If you use this in your own work, please cite the following paper:
@INPROCEEDINGS{imetro-facility-2025,
author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
year={2025},
volume={},
number={},
pages={390-397},
keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
doi={10.1109/UR65550.2025.11077983}}