Development of a tendon-driven robotic finger for an anthropomorphic robotic hand
Development of a tendon-driven robotic finger for an anthropomorphic robotic hand
复制标题
DOI：
10.1177/0278364913518357
复制
发表时间：
2014-04-01
影响因子：
9.2
通讯作者：
Hosoda, Koh
中科院分区：
文献类型：
--
作者：
Shirafuji, Shouhei;Ikemoto, Shuhei;Hosoda, Koh
我们提出了一种肌腱驱动的机器人手指的解剖模型的基础上，一个人的手指和一个合适的方法进行分析。我们的研究旨在实现一个拟人化的机器人手，具有相同的特性和灵巧的人手，它也旨在确定的优点，人类的肌肉骨骼结构的应用程序的设计和控制的机器人操作器。当设计拟人机器人手时，需要几个设备来将人类手指结构应用于肌腱驱动的机器人手指。其原因包括人类手指肌肉之一，即蚓状肌，位于肌腱之间，这对于肌腱驱动机构是不利的配置。其次，与肌腱驱动机构中使用的标准滑轮不同，人手指的一些力矩臂根据关节角度非线性地变化。在我们的机器人手指的设计，我们解决这些困难，通过重新安排其肌腱和开发一个机制来改变moment arm.We还提出了一种方法来分析和控制这种机器人手指协调关节使用非拉伸分支肌腱的基础上，人类伸肌机制与虚拟肌腱雅可比矩阵的优点是，这种约束实际上减少了自由度（DOF）的机制。此外，我们建立了一个原型，以确认其运动使用这种方法。此外，我们表明，减少自由度的状态可以失去外力作用在机构上，这种情况可以通过手动调整肌腱力改变。这使得可以控制虚拟自由度以满足任务的要求。最后，我们讨论了拟人结构的好处，包括肌腱的安排，模仿人类的蚓状肌，和上述机制与非线性力臂的角度来看，有两个国家的自由度。这些见解可能为机器人手的设计提供新的视角。
Our paper proposes a tendon-driven robotic finger based on an anatomical model of a human finger and a suitable method for its analysis. Our study aims to realize an anthropomorphic robotic hand that has the same characteristics and dexterity as that of a human hand, and it also aims to identify the advantages of the human musculoskeletal structure for application to the design and control of robot manipulators. When designing an anthropomorphic robotic hand, several devices are required to apply the human finger structure to a tendon-driven robotic finger. Reasons for this include that one of the human finger muscles, namely, the lumbrical muscle, is situated between tendons, which is an unfavorable configuration for the tendon-driven mechanism. Second, unlike a standard pulley used in a tendon-driven mechanism, some moment arms of the human finger change nonlinearly according to the joint angle. In our robotic finger design, we address these difficulties by rearranging its tendons and develop a mechanism to change the moment arm. We also propose a method to analyze and control this robotic fingers coordinating joints using non-stretch branching tendons based on the human extensor mechanism with a virtual tendon Jacobian matrix and the advantage is that this constraint virtually reduces the degrees-of-freedom (DOF) of the mechanism. Further, we build a prototype to confirm its motion using this method. In addition, we show that the state with the reduced DOF can be lost by external forces acting on the mechanism, and this condition can be changed manually by adjusting the tendon forces. This makes it possible to control the virtual DOFs to satisfy the requirements of the task. Finally, we discuss the benefits from anthropomorphic structures including the tendon arrangement, which mimic the human lumbrical muscle, and the above mentioned mechanism with non-linear moment arms from the perspective that there are two states of DOFs. These insights may provide new perspectives in the design of robotic hands.