具有本体感觉的多关节软硬手指模块化仿生手。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Ruichen Zhen, Li Jiang, Hexin Li, Bangchu Yang
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引用次数: 0

摘要

柔性机械手具有抓取适应性强的优点。特别是对于柔软易碎的物体,柔软的手指比坚硬的手指表现出了更大的潜力。然而,自由度较小,力输出较低,本体感觉不足,可控性差,仍然限制了其应用。本研究以人手的解剖结构为灵感,遵循柔性关节、刚性骨架和嵌入式柔性曲率传感器相结合的思想,提出了由多关节手指组成的模块化灵巧手。每个手指有3个准关节,其中掌指关节软关节可实现内收外展和弯曲运动,远端两个指间软关节由一个致动器驱动。软关节即准关节与人的手类似,具有较短的常曲率段长度。基于本体感觉的开尔文桥集成铟镓合金传感器能够准确检测关节角度,并实现基于本体感觉的闭环控制。提出了刚柔手指的运动学和静力学建模方法。为了进一步验证该设计的性能,开发了三指手和五指手的原型。多指手具有自适应抓取和灵巧操作的能力,而三指手的力输出可达31.82 N,五指手完成了32种抓取类型。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Modular Bioinspired Hand with Multijoint Rigid-Soft Finger Possessing Proprioception.

Soft robot hands have the advantage of remarkable adaptability for grasping. Especially for the soft and fragile objects, soft fingers had presented their much excellent potential compared with their rigid counterparts. However, less degree of freedom, lower force output, lack of proprioception, and poor controllability still limit the application. Inspired by the anatomical structure of the human hand and following the idea of combining soft joints, rigid skeletons and embedded soft curvature sensors, modular dexterous hands composed of multijoint fingers are proposed in this study. Each finger has three quasi-joints, in which metacarpophalangeal soft-joint can realize adduction/abduction and bending motions, and distal two interphalangeal soft-joints are actuated by one actuator. Similar to human hand, soft-joint so-called quasi-joint has a short length of constant curvature segment. The integrated Indium Gallium Alloy sensors with Kelvin Bridge for proprioception can accurately detect joint angles, while closed-loop control based on proprioception was accomplished. Kinematics and statics modeling method of the rigid-soft finger is proposed. To further verify the performance of this design, prototypes of three-fingered and five-fingered hands are developed. The multifingered hands had demonstrated their capability of adaptive grasp and dexterous manipulation, while the force output of the three-fingered hand is up to 31.82 N, and 32 grasp types had accomplished by the five-fingered hand.

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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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