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Considering the scales, we think that the robustness can only be achieved by the use of energy storage mechanisms, e.g. in elastic elements. The use of variable stiffness drives provides a low-pass filtering of impacts and allows stiffness adjustments depending on the task. However, using these drive principles does not guarantee the safety of the human due to the dramatically increased dynamics of such system. The design methodology of an antagonistically tendon-driven hand is explained. The resulting hand, very close to its human archetype in terms of size, weight, and, in particular, grasping performance, robustness, and dynamics, is presented. The hyper-actuated hand is a research platform that will also be used to investigate the importance of mechanical couplings and, in future projects, be the basis of a simplified hand that would still perform daily manipulation tasks.<\/jats:p>","DOI":"10.1177\/0278364912459209","type":"journal-article","created":{"date-parts":[[2012,11,30]],"date-time":"2012-11-30T12:13:30Z","timestamp":1354277610000},"page":"1531-1555","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":213,"title":["The hand of the DLR Hand Arm System: Designed for interaction"],"prefix":"10.1177","volume":"31","author":[{"given":"Markus","family":"Grebenstein","sequence":"first","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maxime","family":"Chalon","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Werner","family":"Friedl","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sami","family":"Haddadin","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thomas","family":"Wimb\u00f6ck","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gerd","family":"Hirzinger","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics Department of Mechatronic Components and Systems M\u00fcnchner Stra\u00dfe 20, 82234 Oberpfaffenhofen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[{"name":"ETH Zurich, Autonomous Systems Lab ETH Zentrum CLA E14.2 Secretariat Tannenstrasse 3, 8092 Zurich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2012,11,30]]},"reference":[{"key":"bibr1-0278364912459209","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470200468X"},{"key":"bibr2-0278364912459209","volume-title":"Anatomie. 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