Design of An anthropomorphic tendon-driven robotic finger
Design of An anthropomorphic tendon-driven robotic finger
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DOI：
10.1109/robio.2012.6490995
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
Shouhei Shirafuji;Shuhei Ikemoto;K. Hosoda
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文献类型：
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作者：
Shouhei Shirafuji;Shuhei Ikemoto;K. Hosoda
人手的指深屈肌、指总伸肌和蚓状肌在手指运动中起着重要作用。由这些肌肉和肌腱构成的结构对于设计仿人肌腱驱动手指非常重要。然而，将人体中发现的这种结构应用于使用机械元件的机器人手指存在一些问题。其中之一是蚓状肌的起点不在任何骨骼上，而是在指深屈肌的肌腱上。另一个问题是近侧指间关节（PIP）处侧束的力臂长度不恒定。我们基于莱因斯等人[1]提出的运动学模型，考虑关节扭矩的均衡，提出了一种设计。所提出的模型可以通过一种由固定在基座上的驱动器和一个保持这三种肌肉及其肌腱功能的肌腱 - 滑轮系统构成的结构轻松实现。
The flexor digitorum profundus, extensor digitorum communis and lumbrical muscle of the human hand play a significant role in the movement of the finger. The structure consisting of these muscles and tendons is important to consider an anthropomorphic tendon-driven finger. However, there are some problems to apply the structure found in humans to robotic fingers using mechanical elements. One of them is that the origin of the lumbrical muscle is not on any bones but on the tendon of the flexor digitorum profundus. Another is the non-constant length of the moment arm of the lateral band at the proximal interphalangeal (PIP) joint. We propose a design based on the kinematic model proposed by Leijnse et al. [1] considering the equalization of the joint torques. The proposed model can be easily realized by a structure consisting of actuators fixed to a base and a tendon-pulley system that maintains the function of those three muscle and their tendons.