为人类样操控设计的一种自适应模块化仿人灵巧手
Design of an Adaptive Modular Anthropomorphic Dexterous Hand for Human-like Manipulation
AI总结：
本文提出了一种具有4自由度的仿人手指拓扑结构，并基于此设计了自适应模块化灵活手，通过生物协同原理实现人样的抓取与操作。
摘要：
生物协同已成为灵活手设计中广泛采用的范式，能够通过少量执行器实现人样的操控。然而，过度的耦合往往会降低手的灵活性。本文通过提出一种具有4个自由度并由2个执行器驱动的仿人手指拓扑结构，以及基于该手指拓扑结构开发出自适应、模块化的灵活手，来解决执行器复杂性与灵活性之间的权衡问题。我们探索了手协同的生物基础和人类手势分析，将关节层面的协调和结构属性转化为模块化手指架构。利用这些仿生映射，我们设计出五指模块化手，并建立其运动学模型以分析自适应抓取和手内操作。最后，我们构建了一个物理原型并进行了初步实验，验证了所提设计和分析的有效性。
英文摘要：
Biological synergies have emerged as a widely adopted paradigm for dexterous hand design, enabling human-like manipulation with a small number of actuators. Nonetheless, excessive coupling tends to diminish the dexterity of hands. This paper tackles the trade-off between actuation complexity and dexterity by proposing an anthropomorphic finger topology with 4 DoFs driven by 2 actuators, and by developing an adaptive, modular dexterous hand based on this finger topology. We explore the biological basis of hand synergies and human gesture analysis, translating joint-level coordination and structural attributes into a modular finger architecture. Leveraging these biomimetic mappings, we design a five-finger modular hand and establish its kinematic model to analyze adaptive grasping and in-hand manipulation. Finally, we construct a physical prototype and conduct preliminary experiments, which validate the effectiveness of the proposed design and analysis.
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。
