Fast 3D Modeling of Anthropomorphic Robotic Hands Based on A Multi-layer Deformable Design
Fast 3D Modeling of Anthropomorphic Robotic Hands Based on A Multi-layer Deformable Design
复制标题
基于多层变形设计的拟人机械手快速3D建模
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Jianmin Zheng
中科院分区：
文献类型：
--
作者：
Li Tian;Hanhui Li;Muhammad Faaiz Khan Bin Abdul Halil;N. Magnenat;D. Thalmann;Jianmin Zheng
目前拟人机械手主要集中在通过设计新的机械结构和驱动系统来提高其灵活性。然而，它们中的大多数依赖于单个结构/系统（例如，仅骨）并且忽略了人手由多个功能结构组成的事实（例如，皮肤、骨骼、肌肉和肌腱）。这不仅增加了设计过程的难度，而且降低了制造的手的鲁棒性和灵活性。此外，其他因素，如定制，生产的时间和成本，以及人手和机器人手之间的相似程度，仍然被忽略。为了解决这些问题，这项研究提出了一种3D打印的多层设计，用皮肤、组织和骨骼层来模拟手。该设计首先通过三维扫描获得目标手的三维表面模型，然后基于快速模板匹配方法从表面模型生成三维骨骼模型。为了克服刚性骨层在变形方面的缺点，组织层被引入并由基于同心管的结构表示，其变形能力可以由参数明确地控制。此外，一个低成本，但有效的欠驱动系统被用来驱动装配手。所提出的设计进行了测试与33个广泛使用的对象抓取类型，以及特殊的对象，如脆弱的丝绸豆腐，并优于以前的设计显着。利用所提出的设计，拟人机器人手可以以低成本快速制造，并且是可定制的和可变形的。
Current anthropomorphic robotic hands mainly focus on improving their dexterity by devising new mechanical structures and actuation systems. However, most of them rely on a single structure/system (e.g., bone-only) and ignore the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This not only increases the difficulty of the design process but also lowers the robustness and flexibility of the fabricated hand. Besides, other factors like customization, the time and cost for production, and the degree of resemblance between human hands and robotic hands, remain omitted. To tackle these problems, this study proposes a 3D printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tube based structure, of which the deformability can be explicitly controlled by a parameter. Besides, a low-cost yet effective underactuated system is adopted to drive the fabricated hand. The proposed design is tested with 33 widely used object grasping types, as well as special objects like fragile silken tofu, and outperforms previous designs remarkably. With the proposed design, anthropomorphic robotic hands can be produced fast with low cost, and be customizable and deformable.
影响因子：
7.9
作者：
Hashemi, Saeed;Bentivegna, Darrin;Durfee, William
通讯作者：
Durfee, William