Adaptive synergies for the design and control of the Pisa/IIT SoftHand
Adaptive synergies for the design and control of the Pisa/IIT SoftHand
复制标题
DOI：
10.1177/0278364913518998
复制
发表时间：
2014-04-01
影响因子：
9.2
通讯作者：
Bicchi, A.
中科院分区：
文献类型：
--
作者：
Catalano, M. G.;Grioli, G.;Bicchi, A.
在本文中，我们介绍了PISA/IIT SOFTHAND，这是一个新型的机器人手工原型，其目的是稳健且易于控制作为工业抓手，同时表现出高度抓地力的多功能性和类似于人类手的方面。在本文中，我们简要回顾了用于简化这种简化的主要理论工具，即基于神经科学的软协同作用的概念。对几种可能的驱动方案的讨论表明，在有效设计中，软协同思想的直接实施并不是微不足道的。本文提出的称为自适应协同作用的方法取决于手工设计不足的想法。讨论了一种通过自适应协同作用的原则设计来实现一组所需的软协同的合成方法。这种方法导致在原则上设计的手的设计任意数量的软协同作用，如在抓握和操纵模拟和原型实验中所证明的那样。作为适应自适应协同作用的合成方法的特定实例，详细描述了PISA/IIT术。该手有19个关节，但只使用1个执行器来激活其自适应协同作用。在其设计中特别相关的是一种非常柔软，安全，功能强大且极其强大的结构，该结构是通过使用创新的关节和韧带代替传统关节设计而获得的。还显示了原型手的设计和实现，并在多媒体扩展中报道了其通过抓握实验证明其有效性。
In this paper we introduce the Pisa/IIT SoftHand, a novel robot hand prototype designed with the purpose of being robust and easy to control as an industrial gripper, while exhibiting high grasping versatility and an aspect similar to that of the human hand. In the paper we briefly review the main theoretical tools used to enable such simplification, i.e. the neuroscience-based notion of soft synergies. A discussion of several possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The approach proposed in this paper, called adaptive synergy, rests on ideas coming from underactuated hand design. A synthesis method to realize a desired set of soft synergies through the principled design of adaptive synergy is discussed. This approach leads to the design of hands accommodating in principle an arbitrary number of soft synergies, as demonstrated in grasping and manipulation simulations and experiments with a prototype. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses 1 actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. The design and implementation of the prototype hand are shown and its effectiveness demonstrated through grasping experiments, reported also in multimedia extension.