Mechanisms of the Anatomically Correct Testbed Hand
Mechanisms of the Anatomically Correct Testbed Hand
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DOI：
10.1109/tmech.2011.2166801
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发表时间：
2013-02-01
影响因子：
6.4
通讯作者：
Matsuoka, Yoky
中科院分区：
文献类型：
--
作者：
Deshpande, Ashish D.;Xu, Zhe;Matsuoka, Yoky
我们已经建立了一个解剖学上正确的测试台（ACT）的手，目的是了解人类手中的内在生物力学和控制功能，这些功能对于实现强大，通用和灵巧的运动以及丰富的对象和世界探索至关重要。通过在硬件平台中模仿人手的基本力学和控制，我们的目标是实现以前无与伦比的抓握和操作技能。在本文中，新颖的构成机制，独特的肌肉关节的关系，和运动演示的拇指，食指，中指，手腕的ACT手。ACT手的抓取和操纵能力也被说明。功能齐全的ACT Hand平台允许设计和实验新颖的控制算法，从而更深入地了解人类的灵活性。
We have built an anatomically correct testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features in human hands that are critical for achieving robust, versatile, and dexterous movements, as well as rich object and world exploration. By mimicking the underlying mechanics and controls of the human hand in a hardware platform, our goal is to achieve previously unmatched grasping and manipulation skills. In this paper, the novel constituting mechanisms, unique muscle to joint relationships, and movement demonstrations of the thumb, index finger, middle finger, and wrist of the ACT Hand are presented. The grasping and manipulation abilities of the ACT Hand are also illustrated. The fully functional ACT Hand platform allows for the possibility to design and experiment with novel control algorithms leading to a deeper understanding of human dexterity.