软指髓与硬指甲相互作用提高抓握精度。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo
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引用次数: 1

摘要

在这项研究中,我们研究了指甲的存在或不存在对人工仿生手指精确抓取的影响。我们假设指甲通过增加摩擦系数来提高精确抓取性能,同时抑制指尖变形。为了验证我们的假设,我们开发了由骨、指甲、皮肤和软组织组成的人造手指,并制作了三种不同皮肤柔软度的人造手指和无指甲的人造手指作为对照条件。利用研制的带钉和不带钉的人工指尖对圆柱形物体和t形块进行了拉拔实验,并比较了持力的大小。指甲有助于物体抓取稳定性,因为指甲在柔软皮肤的人造指尖上的存在显着增加了持有力的大小。由于指髓变形被指甲抑制,对抓握对象形成形态封闭即几何约束,t型块的握持力幅度增幅比圆柱形物体(1.08倍最大值)更显著(3.10倍最大值)。研究结果表明,柔软的指尖和坚硬的指甲可以显著提高柔性机械手的抓取性能。结果表明,人指甲通过对被抓物体形成几何约束,抑制指髓变形,提高了抓握精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail.

In this study, we investigated the effect of the presence or absence of fingernails on precision grasping using artificial anthropomimetic fingers. We hypothesized that fingernails improve precision grasping performance by increasing the friction coefficient while suppressing fingertip deformation. To test our hypothesis, we developed artificial fingertips, each composed of bone, nail, skin, and soft tissue, and fabricated three types of artificial fingers with different skin softness grades and artificial fingers without nails as the control condition. Pullout experiments of cylindrical objects and T-shaped blocks were conducted using the developed artificial fingertips with and without nails, and the magnitude of the holding force was compared. The nail contributed to object grasping stability because the magnitude of the holding force was significantly increased by the presence of the nail in the artificial fingertip with soft skin. The rate of increase in the magnitude of the holding force of the T-shaped block was more significant (3.10 times maximum) compared with the cylindrical object (1.08 times maximum) because the finger pulp deformation was suppressed by the nail, and the form closure, that is, geometric constraint, was formed for the grasping object. The results of this study show that soft fingertips and hard nails can significantly improve the grasping performance of soft robotic hands. And these results suggest that the human nail improves precision grasping performance by forming geometric constraints on the grasped object, suppressing finger pulp deformation.

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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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