Clarification of anatomical mechanism contributing to human hand dexterity

当试图将人类的控制系统模仿到机器人时，它们之间最重要的区别是控制中的采样时间。通常，机器人以1ms的间隔运动，而人类由于神经生理方面的原因导致了很大的时间延迟。本研究开发了一种基于视觉反馈技术的多指机械手。该系统包括与图像处理相关的极大的更新延迟，例如100ms。即使在这种时滞系统中，所开发的机器人也能实现鲁棒的灵巧操作。

When trying to mimic the human control system to robots, a most important difference between them is the sampling time in control. Usually, the robots move at the interval of 1ms, while the human has a large time delay induced by neurophysiological aspects. This study develops a multi-fingered robotic hand on the basis of the visual feedback technology. This system includes extremely large updating delay such as 100ms that is associated with the image processing. Even in this delayed system, the developed robot can achieve dexterous manipulation robustly.