对抗性Bowden电缆驱动的轻量级机器人手：迈向受限负载人形机器人的灵巧操作
Antagonistic Bowden-Cable Actuation of a Lightweight Robotic Hand: Toward Dexterous Manipulation for Payload Constrained Humanoids
AI总结：
本文提出了一种轻量级人形手，通过对抗性Bowden电缆驱动和滚动接触关节优化，实现单电机控制，提高了负载能力和灵巧性。
摘要：
人形机器人实现人类水平的灵巧性需要能够同时提供高抓取力、快速驱动速度、多个自由度和轻量化结构的机器人手，且在类人尺寸限制内。满足这些矛盾要求仍然具有挑战性，因为满足这种组合通常需要更重的执行器和更笨重的传动系统，显著限制了机器人手臂的负载能力。在本文中，我们提出了一种轻量级的人形手，由Bowden电缆驱动，其独特地结合了滚动接触关节优化与对抗性电缆驱动，实现了每个关节单电机控制，且电缆长度偏差极小。通过将执行器模块移至躯干，该设计显著减少了远端质量，同时保持了人形比例和灵巧性。此外，这种对抗性电缆驱动消除了电机之间同步的需求。使用所提出的方法，具有236克远端质量（不包括远程执行器和Bowden套管）的手部组件能够可靠地执行灵巧任务，超过了18牛指尖力，并能举起超过自身质量一百倍的负载。此外，通过Cutkosky分类抓取和在扰动的执行器-手转换下的轨迹一致性验证了其鲁棒性。
英文摘要：
Humanoid robots toward human-level dexterity require robotic hands capable of simultaneously providing high grasping force, rapid actuation speeds, multiple degrees of freedom, and lightweight structures within human-like size constraints. Meeting these conflicting requirements remains challenging, as satisfying this combination typically necessitates heavier actuators and bulkier transmission systems, significantly restricting the payload capacity of robot arms. In this letter, we present a lightweight anthropomorphic hand actuated by Bowden cables, which uniquely combines rolling-contact joint optimization with antagonistic cable actuation, enabling single-motor-per-joint control with negligible cable-length deviation. By relocating the actuator module to the torso, the design substantially reduces distal mass while maintaining anthropomorphic scale and dexterity. Additionally, this antagonistic cable actuation eliminates the need for synchronization between motors. Using the proposed methods, the hand assembly with a distal mass of 236g (excluding remote actuators and Bowden sheaths) demonstrated reliable execution of dexterous tasks, exceeding 18N fingertip force and lifting payloads over one hundred times its own mass. Furthermore, robustness was validated through Cutkosky taxonomy grasps and trajectory consistency under perturbed actuator-hand transformations.
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