Everyday Finger：满足日常交互操作需求的机器人手指
Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation
AI总结：
本文提出基于串联弹性驱动的紧凑型机器人手指Everyday Finger，并通过双指手在三十种日常任务中验证其操作能力。
摘要：
我们提出了一种机器人手指的机械与动力学要求，该手指能够执行三十种多样的日常任务。为满足这些要求，我们展示了一种基于串联弹性驱动的手指设计，称之为everyday finger。我们的重点是在实现所需性能的同时使手指尽可能紧凑。我们通过构建一只双指机器人手来评估everyday finger，该手在多种性能参数和任务上进行了测试，例如将盘子放入架子中取放、拾取纸张等薄而扁平的物体以及草莓等易碎物体。视频可在项目网站获取：https://sites.google.com/view/everydayfinger。
英文摘要：
We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger.
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。
