A Multi-Material, Anthropomorphic Metacarpophalangeal Joint With Abduction and Adduction Actuated by Soft Artificial Muscles
A Multi-Material, Anthropomorphic Metacarpophalangeal Joint With Abduction and Adduction Actuated by Soft Artificial Muscles
复制标题
一种多材料、拟人化的掌指关节，具有由软人工肌肉驱动的外展和内收功能
DOI：
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发表时间：
2022
影响因子：
5.2
通讯作者：
E. Roche
中科院分区：
文献类型：
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作者：
S. Gollob;Jonhenry Poss;Garrett R. C. Memoli;E. Roche
近年来，手假肢研究领域出现了利用软硬混合材料的拟人化设计，将刚性骨架的承载能力与软材料的坚固性和活动性相结合。这种方法为更先进的假肢创造了潜力，但也存在利用软驱动和关节接口来创建更多功能关节的尚未探索的机会。在这项工作中，我们提出了一种多材料掌指（MCP）关节，它使用刚性骨架和软韧带，并添加了用于主动外展/内收的新型软执行器和用于更平滑运动的软软骨润滑剂。为了支持关节在更灵巧的假肢中的潜在应用，我们进行了实验来证明其（1）位置控制中的近线性（2）位置重复性（3）和力输出重复性。我们还发现，添加新型软骨润滑剂组合可以改善关节的动态响应。
In recent years, the field of hand prosthetic research has seen anthropomorphic designs that make use of hybrid soft-rigid materials, combining the load-bearing capability of rigid skeletons with the robustness and mobility of soft materials. This approach generates potential for more advanced prosthetics, yet there are unexplored opportunities for leveraging soft actuation and joint interfaces towards creating more versatile joints. In this work, we present a multi-material metacarpophalangeal (MCP) joint that uses a rigid skeleton and soft ligaments, with the addition of novel soft actuators for active ab/adduction and soft cartilage-lubricant for smoother motion. To support the joint’s potential applications in more dexterous prosthetics, we perform experiments to demonstrate its (1) near linearity in positional control (2) positional repeatability (3) and force output repeatability. We also find that the addition of the novel cartilage-lubricant combination improves the joint’s dynamic response.