A novel type of compliant and underactuated robotic hand for dexterous grasping
A novel type of compliant and underactuated robotic hand for dexterous grasping
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DOI：
10.1177/0278364915592961
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发表时间：
2016-01-01
影响因子：
9.2
通讯作者：
Brock, Oliver
中科院分区：
文献类型：
--
作者：
Deimel, Raphael;Brock, Oliver
机器人末端执行器的有用性和多功能性取决于它可以完成的抓取的多样性，也取决于实现它们所需的控制方法的复杂性。我们认为，软手能够提供多样化和鲁棒的抓取与低控制复杂性。它们具有许多机械自由度，能够实现复杂的变形。同时，由于软材料固有的顺应性，只有很少的这些机械程度必须明确控制。因此，柔软的手可能结合了两个世界的优点。在本文中，我们提出了RBO手2，一个高度柔顺，欠驱动，鲁棒和灵巧的拟人化手。这种手的制造成本不高，而且其形态可以很容易地适应特定的应用。为了实现高效的手部设计，我们推导并评估了手部基本构件（称为PneuFlex致动器）的机械特性的计算模型。RBO Hand 2的通用性通过实现人类抓取的综合Feix分类法来评估。通过Kapandji测试和各种不同重量物体的抓取实验，证明了机械手的能力和局限性。此外，我们还证明了抓取姿势的有效维数超过了驱动信号的维数，说明复杂的抓取行为可以通过相对简单的控制来实现。
The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same time, due to the inherent compliance of soft materials, only very few of these mechanical degrees have to be controlled explicitly. Soft hands therefore may combine the best of both worlds. In this paper, we present RBO Hand 2, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand. The hand is inexpensive to manufacture and the morphology can easily be adapted to specific applications. To enable efficient hand design, we derive and evaluate computational models for the mechanical properties of the hand's basic building blocks, called PneuFlex actuators. The versatility of RBO Hand 2 is evaluated by implementing the comprehensive Feix taxonomy of human grasps. The manipulator's capabilities and limits are demonstrated using the Kapandji test and grasping experiments with a variety of objects of varying weight. Furthermore, we demonstrate that the effective dimensionality of grasp postures exceeds the dimensionality of the actuation signals, illustrating that complex grasping behavior can be achieved with relatively simple control.