A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps
A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps
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DOI：
10.3390/robotics10040109
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发表时间：
2021-12-01
期刊：
影响因子：
3.7
通讯作者：
Leonessa, Alexander
中科院分区：
文献类型：
--
作者：
Nikafrooz, Negin;Leonessa, Alexander
由于复杂的手部解剖结构，开发模仿自然人手运动的灵巧机器人手具有挑战性。这样一个实际的设计应该解决几个要求，这往往是相互冲突的，并迫使设计师优先考虑的主要设计特点，为一个给定的应用程序。因此，在现有设计中，仅部分满足要求，导致复杂且庞大的解决方案。为了解决这一差距，一种新的单驱动，电缆驱动，并在这项工作中，独立的机器人手。这只五指机械手支持19个自由度（DOF），可以执行各种精度和力量抓握。手指和拇指的外部结构受到比萨/IIT SoftHand的启发，同时进行了重大修改，以显着减少部件数量和摩擦效果。电缆配置的灵感来自手部解剖结构的肌腱结构。此外，在这项工作中提出了一种新的电力传输系统。这种机制解决了紧凑性和致动不足的问题，同时确保通过手指和拇指的适当力分布。此外，该动力传输系统可以实现对具有未知几何形状的物体的自适应抓握，这显著简化了传感和控制系统。制造了所提出设计的3D打印原型，并通过模拟和实验评估了其基本功能。
Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize the main design characteristics for a given application. Therefore, in the existing designs the requirements are only partially satisfied, leading to complicated and bulky solutions. To address this gap, a novel single-actuated, cable-driven, and self-contained robotic hand is presented in this work. This five-fingered robotic hand supports 19 degrees of freedom (DOFs) and can perform a wide range of precision and power grasps. The external structure of fingers and the thumb is inspired by Pisa/IIT SoftHand, while major modifications are implemented to significantly decrease the number of parts and the effect of friction. The cable configuration is inspired by the tendon structure of the hand anatomy. Furthermore, a novel power transmission system is presented in this work. This mechanism addresses compactness and underactuation, while ensuring proper force distribution through the fingers and the thumb. Moreover, this power transmission system can achieve adaptive grasps of objects with unknown geometries, which significantly simplifies the sensory and control systems. A 3D-printed prototype of the proposed design is fabricated and its base functionality is evaluated through simulations and experiments.