Development of a robotic finger with a branching tendon mechanism and sensing based on the moment-equivalent point
Development of a robotic finger with a branching tendon mechanism and sensing based on the moment-equivalent point
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DOI：
10.1016/j.robot.2020.103538
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发表时间：
2020-07
期刊：
影响因子：
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通讯作者：
Shouhei Shirafuji;J. Ota
中科院分区：
文献类型：
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作者：
Shouhei Shirafuji;J. Ota
在本文中，我们开发了一个欠驱动的机器人手指与三个关节具有分支肌腱机制和传感系统来估计扳手施加到指尖的基础上的力矩等效点（MEP）。提出了将分支肌腱机构与基于MEP的扳手传感原理相结合的联合收割机设计方案。该系统利用简单的力传感器和线驱动系统实现了对指尖施加的拉力的测量。此外，我们通过实验证实了它们的功能。
In this paper, we developed an underactuated robotic finger with three joints having a branching tendon mechanism and a sensing system to estimate the wrench applied to the fingertip based on the moment-equivalent point (MEP). We proposed the design to combine the branching tendon mechanism and the principle of wrench sensing based on the MEP. The proposed system realized the measurement of the wrench applied to the fingertip using a simple force sensor and a wire-driven system. Furthermore, we experimentally confirmed their functioning.