开发一种具有灵巧抓握能力的自主机械手,用于研究应用

IF 16.4 1区 化学 Q1 CHEMISTRY, MULTIDISCIPLINARY
Samantha Woods;Callen Fisher
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引用次数: 0

摘要

拇指的缺失会使一只手的功能下降40%,整只手的缺失会严重影响一个人执行简单日常任务的能力。因此,有必要专注于开发一种拇指机构,该机构支持拟人化机器人手的灵巧抓握活动。本文记录了一种新型机械手的设计过程,并展示了验证其整体性能的实验结果。重点是开发一种新的拇指机制,该机制可以复制拇指的特征运动类型,即屈曲-伸展、外展-内收和反向复位。另外的重点是开发一种不包含被动组件的手指屈伸运动机制,并生产一个完全独立的原型——电子设备和致动器包含在手掌内,电源嵌入手掌背面。这只手成功地遵循了传感器手套的运动命令,并能够复制14种抓握配置,这证明了它灵巧的抓握能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of a self-contained robotic hand with dexterous grasping capabilities for research applications
Thumb loss can diminish one's hand's functionality by up to 40% and the loss of one's entire hand can severely impact a person's ability to perform simple day-to-day tasks. Therefore, there exists a need to focus on the development of a thumb mechanism which supports dexterous grasping activities in anthropomorphic robotic hands. This paper documents the design process of a novel robotic hand, and shows experimental results validating its overall performance. A large focus was placed on developing a novel thumb mechanism which could replicate the thumb's characteristic movement types, namely flexion-extension, abduction-adduction, and oppositionreposition. Additional focus was placed on developing a mechanism for flexion-extension movement of the fingers which did not incorporate passive components and on producing a fully self-contained prototype — with the electronics and actuators contained inside the palm, and the power supply inset against the back of the palm. The hand successfully followed motion commands from a sensor glove, and was able to replicate 14 grasp configurations which demonstrated its dexterous grasping abilities.
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来源期刊
Accounts of Chemical Research
Accounts of Chemical Research 化学-化学综合
CiteScore
31.40
自引率
1.10%
发文量
312
审稿时长
2 months
期刊介绍: Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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