SyLink Hand：一种受协同作用启发的连杆驱动拟人手，实现类人灵巧性
SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity
AI总结：
受人类手部协同作用启发，提出SyLink Hand拟人灵巧手，通过生物力学协同原理与连杆驱动机构结合，在紧凑低成本架构中实现外观、运动学和功能的高度拟人化，验证了协同启发连杆设计有效平衡拟人度、机械简单性和功能多样性。
摘要：
设计在功能灵巧性与机械简单性之间取得平衡的拟人机器人手仍然是一个重大挑战。受人类手部协同作用的启发，本文提出了SyLink Hand，一种拟人灵巧手，它将生物力学协同原理与连杆驱动传动机制相结合，在紧凑且成本效益高的架构中实现了外观、运动学和功能的高度拟人化。使用动作捕捉手套对自然手部运动进行生物力学分析，揭示了手部关节之间的强运动学相关性，为简化但功能性的自由度配置提供了基础。在这些协同特性的指导下，采用优化的连杆机构来协调多个关节运动并再现自然手指轨迹。进一步提出了一种新颖的球形四杆连杆机构，以在紧凑的外形下实现掌指关节的屈曲/伸展和外展/内收的解耦。最终原型集成了19个关节，由11个执行器驱动，总质量为520克，制造成本约为400美元。实验评估证明了其类人运动学性能、高承载能力以及多样的抓取和操作技能。这些结果验证了协同启发、基于连杆的设计有效平衡了拟人度、机械简单性和功能多样性，突显了其在需要灵巧性的机器人应用中实际部署的潜力。
英文摘要：
Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper presents the SyLink Hand, an anthropomorphic dexterous hand that integrates biomechanical synergy principles with linkage-driven transmission mechanisms to achieve a high degree of anthropomorphism in appearance, kinematics, and functionality within a compact and cost-effective architecture. Biomechanical analysis of natural hand motions using motion capture gloves reveals strong kinematic correlations among hand joints, providing the basis for a simplified yet functional degree-of-freedom (DOF) configuration. Guided by these synergistic characteristics, optimized linkage mechanisms are employed to coordinate multiple joint motions and reproduce natural finger trajectories. A novel spherical four-bar linkage is further proposed to achieve decoupled flexion/extension (Flex/Ext) and abduction/adduction (Abd/Add) at the metacarpophalangeal joint within a compact form factor. The resulting prototype integrates 19 joints driven by 11 actuators, with a total mass of 520g and a manufacturing cost of approximately USD 400. Experimental evaluations demonstrate its human-like kinematic performance, high load-bearing capability, and versatile grasping and manipulation skills. These results validate that the synergy-inspired, linkage-based design effectively balances anthropomorphism, mechanical simplicity, and functional versatility, highlighting its potential for practical deployment in dexterity-demanding robotic applications.
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。
