Jamming Joints for Stiffness and Posture Control with an Anthropomorphic Hand
Jamming Joints for Stiffness and Posture Control with an Anthropomorphic Hand
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用拟人化的手干扰关节以提高刚度和姿势控制
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
F. Iida
中科院分区：
文献类型：
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作者：
Kieran Gilday;Josie Hughes;F. Iida
在人体操纵中，刚度控制是至关重要的。能够在允许与环境进行顺应交互的低刚度状态之间转换到可以施加高力的刚性状态，从而实现了许多功能。粒子干扰提供了一种巧妙的在线调整刚度的方法。我们开发了一种非致动拟人化的手，关节内包裹着堵塞的颗粒，周围环绕着一层模塑的硅胶皮肤。这种僵硬控制的方法还允许控制姿势，通过在软状态下与环境交互作用，然后在新姿势下使用单个真空源和控制阀卡住关节来控制姿势。为了展示这种新的设计和制造方法的能力，我们引入了一种利用软/刚性状态转换和环境交互来固定手部在给定需求姿势的“预条件”算法。这种方法允许准确的姿势控制，这转化为高抓取成功率。总之，我们展示了新的设计和制造方法的优势，在这种方法中，干扰关节可以通过对手部姿势的预调节来被动地执行各种任务。
Stiffness control is critical in human manipulation. The ability to transition between a low stiffness state, allowing for compliant interactions with the environment, through to rigid states, where it is possible to exert high forces, enables much functionality. Particle jamming provides an elegant method of modulating stiffness online. We develop an un-actuated anthropomorphic hand, with jamming particles enclosed in the joints surrounded by a moulded silicone skin. This approach to stiffness control also allows for control of posture, through ‘pre-conditioning’ by interacting with the environment in a soft state and then jamming the joints when in a new posture using a single vacuum source and control valve. To demonstrate the capabilities of this new design and fabrication approach, we introduce a ‘pre-conditioning’ algorithm for exploiting the soft/rigid state transition and environmental interactions to fix the hand in a given demand posture. This approach allows for accurate posture control, which translates to high grasping success rates. In conclusion, we demonstrate the advantages of the new design and fabrication approach, where jamming joints can be used to passively perform a variety of tasks through pre-conditioning of the hand posture.