{"title":"从人手关节到连续机器人:关节表面形态如何在基于模板的设计中塑造灵活性和稳定性。","authors":"Chendi Liang, Yu Wang, Yanzhen Liu, Sutuke Yibulayimu, Qingnan Sun, Chao Shi, Yunning Wang","doi":"10.1088/1748-3190/add97b","DOIUrl":null,"url":null,"abstract":"<p><p>The design of continuum robots often involves a dilemma between flexibility and stiffness, where increased flexibility may reduce stiffness and control precision. The human hand achieves both power grasp and precision grasp by leveraging different joint structures, particularly in the thumb, which plays a key role in balancing dexterity and stability. Inspired by the three distinct joints of the human thumb, we designed three types continuum manipulators featuring uniaxial, ball-and-socket, and saddle joints (SJ). A templated surface design was employed to control all other variables, ensuring that the only difference among the joint contact surfaces was their Gaussian curvature. The analysis covers aspects such as kinematic modeling, finite element simulations, workspace measurement, and stiffness experiments. Experimental results show that the workspace of the SJ manipulator is 0.73 times that of the ball-and-socket joint (BSJ) and 1.69 times that of the uniaxial joint (UJ). In terms of stability performance, the SJ achieves a maximum increase of 5.51 times in torsional stiffness and 2.68 times in bending stiffness compared to the BSJ. Compared to the UJ, the maximum improvements are 3.73 times in torsional stiffness and 2.44 times in bending stiffness. This suggests that the SJ continuum structure design can enhance stiffness while maintaining flexibility. This work provides a new approach for achieving a balanced flexibility and stability in continuum robot design.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.1000,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"From human hand joints to continuum robot: how articular surface morphology shapes flexibility and stability in template-based designs.\",\"authors\":\"Chendi Liang, Yu Wang, Yanzhen Liu, Sutuke Yibulayimu, Qingnan Sun, Chao Shi, Yunning Wang\",\"doi\":\"10.1088/1748-3190/add97b\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>The design of continuum robots often involves a dilemma between flexibility and stiffness, where increased flexibility may reduce stiffness and control precision. The human hand achieves both power grasp and precision grasp by leveraging different joint structures, particularly in the thumb, which plays a key role in balancing dexterity and stability. Inspired by the three distinct joints of the human thumb, we designed three types continuum manipulators featuring uniaxial, ball-and-socket, and saddle joints (SJ). A templated surface design was employed to control all other variables, ensuring that the only difference among the joint contact surfaces was their Gaussian curvature. The analysis covers aspects such as kinematic modeling, finite element simulations, workspace measurement, and stiffness experiments. Experimental results show that the workspace of the SJ manipulator is 0.73 times that of the ball-and-socket joint (BSJ) and 1.69 times that of the uniaxial joint (UJ). In terms of stability performance, the SJ achieves a maximum increase of 5.51 times in torsional stiffness and 2.68 times in bending stiffness compared to the BSJ. Compared to the UJ, the maximum improvements are 3.73 times in torsional stiffness and 2.44 times in bending stiffness. This suggests that the SJ continuum structure design can enhance stiffness while maintaining flexibility. This work provides a new approach for achieving a balanced flexibility and stability in continuum robot design.</p>\",\"PeriodicalId\":55377,\"journal\":{\"name\":\"Bioinspiration & Biomimetics\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2025-05-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Bioinspiration & Biomimetics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1088/1748-3190/add97b\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Bioinspiration & Biomimetics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1088/1748-3190/add97b","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
From human hand joints to continuum robot: how articular surface morphology shapes flexibility and stability in template-based designs.
The design of continuum robots often involves a dilemma between flexibility and stiffness, where increased flexibility may reduce stiffness and control precision. The human hand achieves both power grasp and precision grasp by leveraging different joint structures, particularly in the thumb, which plays a key role in balancing dexterity and stability. Inspired by the three distinct joints of the human thumb, we designed three types continuum manipulators featuring uniaxial, ball-and-socket, and saddle joints (SJ). A templated surface design was employed to control all other variables, ensuring that the only difference among the joint contact surfaces was their Gaussian curvature. The analysis covers aspects such as kinematic modeling, finite element simulations, workspace measurement, and stiffness experiments. Experimental results show that the workspace of the SJ manipulator is 0.73 times that of the ball-and-socket joint (BSJ) and 1.69 times that of the uniaxial joint (UJ). In terms of stability performance, the SJ achieves a maximum increase of 5.51 times in torsional stiffness and 2.68 times in bending stiffness compared to the BSJ. Compared to the UJ, the maximum improvements are 3.73 times in torsional stiffness and 2.44 times in bending stiffness. This suggests that the SJ continuum structure design can enhance stiffness while maintaining flexibility. This work provides a new approach for achieving a balanced flexibility and stability in continuum robot design.
期刊介绍:
Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology.
The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include:
Systems, designs and structure
Communication and navigation
Cooperative behaviour
Self-organizing biological systems
Self-healing and self-assembly
Aerial locomotion and aerospace applications of biomimetics
Biomorphic surface and subsurface systems
Marine dynamics: swimming and underwater dynamics
Applications of novel materials
Biomechanics; including movement, locomotion, fluidics
Cellular behaviour
Sensors and senses
Biomimetic or bioinformed approaches to geological exploration.