{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T05:41:48Z","timestamp":1778305308735,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"4-5","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,4]]},"abstract":"<jats:p>In this paper we briefly address DLR\u2019s (German Aerospace Center) background in space robotics by hand of corresponding milestone projects including systems on the International Space Station. We then discuss the key technologies needed for the development of an artificial \u201crobonaut\u201d generation with mechatronic ultra-lightweight arms and multifingered hands. The third arm generation is nearly finished now, approaching the limits of what is technologically achievable today with respect to light weight and power losses. In a similar way DLR\u2019s second generation of artificial four-fingered hands was a big step towards higher reliability, manipulability and overall performance.<\/jats:p>","DOI":"10.1177\/0278364904042201","type":"journal-article","created":{"date-parts":[[2004,5,27]],"date-time":"2004-05-27T09:25:01Z","timestamp":1085649901000},"page":"331-340","source":"Crossref","is-referenced-by-count":46,"title":["Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach                Technological Limits Now?"],"prefix":"10.1177","volume":"23","author":[{"given":"G.","family":"Hirzinger","sequence":"first","affiliation":[{"name":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N.","family":"Sporer","sequence":"additional","affiliation":[{"name":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Schedl","sequence":"additional","affiliation":[{"name":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.","family":"Butterfa\u00df","sequence":"additional","affiliation":[{"name":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Grebenstein","sequence":"additional","affiliation":[{"name":"DLR Oberpfaffenhofen, German Aerospace Center Institute of Robotics and                        Mechatronics D-82230 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2004,4,1]]},"reference":[{"key":"atypb1","unstructured":"Albu-Sch\u00e4ffer, A., and Hirzinger, G. 2000. State feedback controller for flexible joint robots: A globally stable approach implemented on DLR\u2019s lightweight robots . Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Takamatsu, Japan."},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Albu-Sch\u00e4ffer, A., and Hirzinger, G. 2001. Parameter identification and passivity based joint control for a 7DoF torque controlled lightweight robot . Proceedings of the ICRA International Conference on Robotics and Automation, Seoul, Korea, May 21-26, pp. 2852\u20132858 .","DOI":"10.1109\/ROBOT.2001.933054"},{"key":"atypb3","doi-asserted-by":"crossref","unstructured":"Albu-Sch\u00e4ffer, A., and Hirzinger, G. 2002. Cartesian impedance control techniques for torque controlled lightweight robots . 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