具有主动手掌的软体机器人夹爪用于手内物体重新定向
A Soft Robotic Gripper with Active Palm for In-Hand Object Reorientation
AI总结：
本文提出一种带主动旋转手掌的三指软体夹爪，利用气动吸盘防滑，实现快速精确的手内物体旋转，简化了机器人操作。
摘要：
人类手具有固有的能力，无需外部辅助即可操纵和重新定向物体。因此，我们能够仅用一只手操作工具并执行一系列动作，而无需持续重新抓取物体。在机器人末端执行器中模拟这一功能仍是一个关键研究领域，人们正在努力创建可用于操作复杂操纵器的先进控制系统。本文提出了一种具有主动旋转手掌的三指软体夹爪，作为执行手内旋转的一种更简单的替代方法。该夹爪配备气动吸盘以防止物体滑动，经过测试，发现其能够快速且精确地有效抓取和旋转多种物体。
英文摘要：
The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously re-grasp objects. Emulating this functionality in robotic end-effectors remains a key area of study with efforts being made to create advanced control systems that could be used to operate complex manipulators. In this paper, a three fingered soft gripper with an active rotary palm is presented as a simpler, alternative method of performing in-hand rotations. The gripper, complete with its pneumatic suction cup to prevent object slippage, was tested and found to be able to effectively grasp and rotate a variety of objects both quickly and precisely.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
