Development of a biomimetic robot hand with faithful bone reproduction and simplified soft-tissue constraints

IF 0.8 Q4 ROBOTICS

Artificial Life and Robotics Pub Date : 2026-01-06 DOI:10.1007/s10015-025-01102-5

Haruto Kimata, Satoshi Suenaga, Shuhei Ikemoto

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引用次数: 0

Abstract

Biomimetics is one of the promising approaches for reproducing the human hand by robotics. However, due to its structural complexity, comprehensive imitation remains challenging, and a five-fingered biomimetic robot hand applicable to real tasks has yet to be fully realized. Therefore, this study aims for faithful reproduction of bones’ geometry based on a human hand skeleton model while adopting an engineering simplification for muscle, tendon, and ligament by a silicone rubber membrane. This simplification lacks biological faithfulness but defines relative positions/motions of bones similar to them of the human hand. This paper describes the design and fabrication procedures of the developed biomimetic robot hand in detail. Through evaluation experiments of the developed hand, the realization of thumb opposition and sufficient grasp stability based on quantitative evaluation were confirmed. These results demonstrate the validity of the proposed approach.

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具有忠实骨复制和简化软组织约束的仿生机械手的研制

仿生学是机器人技术复制人手的一种很有前途的方法。然而，由于其结构的复杂性，全面模仿仍然具有挑战性，适用于实际任务的五指仿生机械手尚未完全实现。因此，本研究的目的是在人手骨骼模型的基础上忠实地再现骨骼的几何形状，同时采用硅橡胶膜对肌肉、肌腱和韧带进行工程简化。这种简化缺乏生物学上的可靠性，但定义了类似于人手的骨骼的相对位置/运动。本文详细介绍了所研制的仿生机械手的设计和制造过程。通过对已开发手的评价实验，证实了基于定量评价的拇指对抗和足够抓握稳定性的实现。这些结果证明了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Artificial Life and Robotics ROBOTICS-

CiteScore

2.00

自引率

22.20%

发文量

101

期刊介绍： Artificial Life and Robotics is an international journal publishing original technical papers and authoritative state-of-the-art reviews on the development of new technologies concerning artificial life and robotics, especially computer-based simulation and hardware for the twenty-first century. This journal covers a broad multidisciplinary field, including areas such as artificial brain research, artificial intelligence, artificial life, artificial living, artificial mind research, brain science, chaos, cognitive science, complexity, computer graphics, evolutionary computations, fuzzy control, genetic algorithms, innovative computations, intelligent control and modelling, micromachines, micro-robot world cup soccer tournament, mobile vehicles, neural networks, neurocomputers, neurocomputing technologies and applications, robotics, robus virtual engineering, and virtual reality. Hardware-oriented submissions are particularly welcome. Publishing body: International Symposium on Artificial Life and RoboticsEditor-in-Chiei: Hiroshi Tanaka Hatanaka R Apartment 101, Hatanaka 8-7A, Ooaza-Hatanaka, Oita city, Oita, Japan 870-0856 ©International Symposium on Artificial Life and Robotics