NRI: Multi-Digit Coordination by Compliant Connections in an Anthropomorphic Hand

NRI：通过拟人手中的兼容连接进行多数字协调

• 批准号: 1427250
• 负责人: Joshua Schultz
• 金额: $ 44.36万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-08-01 至 2019-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1427250&HistoricalAwards=false
• 关键词: NRI; Multi; Digit; Coordination; Compliant

Robust, soft, lightweight, dexterous hands will be a crucial component of the next generation of robots that physically interact with human co-workers. To date, under-actuated robot hands (where one motor moves multiple joints) that grasp objects reliably have been created largely by designer ingenuity using "tricks of the trade" without fully capitalizing on the wealth of mathematical grasping and manipulation theory. Moreover, anatomical studies of the human hand and robotic hands that do useful work have largely evolved separately, leading to similar conclusions expressed in a different way. This collaborative effort between engineering and medical faculty will help bridge these gaps. Engineering graduate students and medical residents will interact regularly; this will serve to translate knowledge and experience across the boundaries of these two disciplines, thereby fostering the ability to solve complex, multi-faceted bioengineering problems. A key contribution of this project will be a theoretical description of an elastic drive train that maps individual actuator motions to key movements in tasks of daily living. The robotic hand produced as another outcome of this work will serve as a robust platform for future experimentation (for example, in studies on gesturing, communication for the hearing impaired, and tactile exploration), and it will also be useful for evaluating and visualizing the effect of potential surgical interventions ex vivo. An important educational and research tool in the PI's institution, this hand will be used to educate and interest university and K-12 students in robotics. The PI team will coordinate with student groups and Native American community organizations, to recruit qualified underrepresented minorities to participate in the project.Moving from single- to multi-actuator multi-fingered dexterous robot hand design is not straightforward and has frustrated researchers for several years; it will require a principled formal treatment. In single-actuator hands, adding a spring to the drive train improves the hand; the exact spring characteristics are not critical. In the general case of multi-actuator compliant hands simply adding a spring is not enough; a multidimensional spring of specific characteristic is needed. Concepts from multiport circuit theory, mechanics of materials, linear algebra and elements of general multi-fingered grasping theory will be used to understand the behavior of such a multi-dimensional spring. The PI's approach is to break this problem into sub-problems, greatly simplifying the analysis. There is also the matter of which actions an under-actuated hand should be able to perform; the PI argues that complete finger individuation is not necessary, rather coupled finger movements should correspond to those used by humans to perform tasks. Anatomical analysis of both normal humans and those that have undergone surgical intervention will be used to prioritize basic human motion primitives. Combined with the novel compliant grasping theory, under-actuated hand synthesis will be formulated as a parameter fitting problem. Detailed evaluation of the effects of surgical intervention on the human hand, the study of human anatomy, multi-port circuit models, and consideration of compliant mechanisms and the fundamental subspaces of linear algebra will all be blended. Taken together, this will result in a method to synthesize an elastic drive train that maps actuator contributions to useful, coordinated motions of the fingers. Implications of the compliant actuation theory will be examined in the mechanism synthesis and grasp stability contexts, and these will be evaluated experimentally. The investigators will pursue this line of reasoning all the way to implementation in a functioning anthropomorphic hand capable of performing the most common tasks of everyday life.

强壮、柔软、轻巧、灵巧的手将成为下一代机器人的关键组成部分，这些机器人将与人类同事进行物理交互。 到目前为止，可靠地抓取物体的欠驱动机器人手（其中一个电机移动多个关节）主要是由设计师使用“贸易技巧”创造的，而没有充分利用数学抓取和操纵理论的财富。 此外，对人手和从事有用工作的机器人手的解剖学研究在很大程度上是分开发展的，从而得出了以不同方式表达的相似结论。 工程和医学教师之间的这种合作努力将有助于弥合这些差距。 工程研究生和医学居民将定期互动;这将有助于跨这两个学科的边界翻译知识和经验，从而培养解决复杂，多方面的生物工程问题的能力。 这个项目的一个关键贡献将是一个弹性传动系的理论描述，映射个人致动器运动的日常生活任务的关键运动。 作为这项工作的另一个成果，生产的机器人手将作为未来实验的强大平台（例如，在手势，听力受损者的沟通和触觉探索的研究中），它也将有助于评估和可视化潜在的手术干预的效果离体。 PI机构的重要教育和研究工具，这只手将用于教育和兴趣大学和K-12学生机器人。 PI团队将与学生团体和美洲原住民社区组织协调，招募合格的代表性不足的少数民族参与该项目。从单致动器到多指灵巧机器人手的设计并不简单，并且已经让研究人员沮丧了好几年;它需要一个原则性的正式处理。 在单驱动器指针中，在传动系中添加弹簧可以改善指针;确切的弹簧特性并不重要。 在多致动器柔顺指针的一般情况下，简单地添加弹簧是不够的;需要具有特定特性的多维弹簧。 多端口电路理论，材料力学，线性代数和一般多指抓取理论的元素的概念将被用来理解这样的多维弹簧的行为。 PI的方法是将这个问题分解成子问题，大大简化了分析。 还有一个问题，即欠驱动的手应该能够执行哪些动作; PI认为，完全的手指个性化是不必要的，而耦合的手指运动应该对应于人类执行任务所使用的动作。 正常人和那些经历了手术干预的解剖分析将被用来优先考虑基本的人体运动原语。 结合新的柔顺抓取理论，欠驱动手的合成将被表述为一个参数拟合问题。 手术干预对人手的影响的详细评估，人体解剖学的研究，多端口电路模型，并考虑顺应机制和线性代数的基本子空间都将被混合。 总之，这将导致一种方法来合成弹性传动系，该弹性传动系将致动器的贡献映射到手指的有用的协调运动。 顺应性驱动理论的影响将在机制合成和把握稳定性的背景下进行检查，这些将进行实验评估。 研究人员将沿着这条推理路线一直走到一只能够执行日常生活中最常见任务的功能性拟人化手的实现。