Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design.
Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design.
复制标题
通过被动身体动力学进行传感、驱动和交互：软机器人手设计框架。
DOI：
10.1089/soro.2021.0077
复制
发表时间：
2023
期刊：
影响因子：
7.9
通讯作者：
Gilday K
中科院分区：
文献类型：
--
作者：
Gilday K
长期以来，机器手一直在努力达到人手的性能。人手在感知、驱动和认知能力方面的物理复杂性和非凡能力使实现这一目标具有挑战性。手的物理结构的核心是它的被动行为。在柔软的机器人手中看得最清楚，这些行为影响并影响机械，传感和控制功能。从这个角度来看，我们提出了一个框架，通过它可以理解机器人手的被动性，通过具体识别被动性的设计，制造和控制的软手的作用。在这个框架中，我们专注于物理手和之间的相互作用：环境，内部驱动，传感器形态，和手腕控制。除去这些周围的系统，我们只剩下一只被动的软手，它的行为来自外部的相互作用。受人手的启发，我们定义了这四个关键相互作用的支柱的作用，并回顾了最先进的机器人手如何利用这四个元素来辅助功能。我们展示了这些支柱如何促进具有丰富行为的混合软硬手，在增加对不确定环境的适应性，提高可扩展性和降低驱动，传感和控制成本方面提供好处。这篇综述提供了一个概念框架，通过考虑被动行为接近手的设计和分析。这不仅突出了以这种方式处理问题所能取得的进展，而且突出了这一前景所带来的突出挑战。
Robotic hands have long strived to reach the performance of human hands. The physical complexity and extraordinary capabilities of the human hand, in terms of sensing, actuation, and cognitive abilities, make achieving this goal challenging. At the heart of the physical structure of the hand is its’ passive behaviors. Seen most clearly in soft robotic hands, these behaviors influence and affect the mechanical, sensing, and control functionalities. With this perspective, we present a framework through which passivity in robot hands can be understood, by concretely identifying the role of passivity in the design, fabrication, and control of soft hands. In this framework we focus on the interactions between the physical hand and the:environment,internal actuation,sensor morphology, andwrist control. Taking these surrounding systems away, we are left with a passive soft hand whose behaviors emerge from external interactions. Inspired by the human hand, we define the role of these four key interacting pillars and review how state-of-the art robot hands utilize these four elements to aid functionality. We show how these pillars promote hybrid soft-rigid hands with rich behaviors, providing benefits in terms of the increased adaptability to uncertain environments, improved scalability and reduction in the cost of actuation, sensing, and control. This review provides a conceptual framework for approaching hand design and analysis through consideration of the passive behaviors. This highlights not only the advances that can be made by approaching the problem in this way but also the outstanding challenges that stem from this outlook.
登录
查看更多内容
影响因子：
3.1
作者：
Salvietti G
通讯作者：
Salvietti G
影响因子：
9.2
作者：
Pozzi, Maria;Marullo, Sara;Prattichizzo, Domenico
通讯作者：
Prattichizzo, Domenico
影响因子：
3.4
作者：
Bimbo J;Turco E;Ghazaei Ardakani M;Pozzi M;Salvietti G;Bo V;Malvezzi M;Prattichizzo D
通讯作者：
Prattichizzo D
影响因子：
4.3
作者：
Montúfar G;Ghazi-Zahedi K;Ay N
通讯作者：
Ay N
影响因子：
9.2
作者：
Deimel, Raphael;Brock, Oliver
通讯作者：
Brock, Oliver