Belt-Finger: 一种经济实惠的软带驱动夹爪，用于灵巧的手内操作
Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation
AI总结：
提出一种双软带手指模块，为平行夹爪增加三个手内自由度（平移、俯仰、滚动），在保持低成本、易集成的同时提升灵巧操作能力，并通过MPC和遥操作验证其有效性。
摘要：
平行夹爪是机器人中默认的操纵器选择，因为它们简单、坚固且廉价。然而，其有限的手内移动性常常迫使大幅度的臂部运动，并限制了在狭窄工作空间中的灵巧操作。我们提出了一种平行夹爪的升级方案：一种基于双软带的指模块，在保留标准开合功能的同时增加了三个手内自由度（DoF）：平移、俯仰和滚动。该机制故意保持简单，并设计为经济制造和直接集成，保留了传统平行夹爪的可靠性和精确控制，同时大大拓宽了操作能力的范围。为了展示新增自由度的实用性，我们将该夹爪集成到两个控制流程中。首先，我们调整了一个模型预测控制器，用于已知物体的手内操作。其次，我们引入了一个轻量级遥操作接口，能够以最少的硬件同时控制机器人臂和夹爪（总共10个自由度）。通过遥操作、MPC和训练策略执行的一系列具有挑战性的操作任务，与传统的平行夹爪相比，所提出的夹爪在灵巧性和任务可行性上持续改进。
英文摘要：
Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpensive. Their limited in-hand mobility, however, often forces large arm motions and restricts dexterous manipulation in confined workspaces. We present a parallel-gripper upgrade: a double-soft-belt-based finger module that preserves standard opening/closing while adding three in-hand degrees of freedom (DoF): translation, pitch, and roll. The mechanism is deliberately kept simple and engineered for inexpensive manufacturing and straightforward integration, preserving the reliability and precise control of traditional parallel grippers while greatly broadening the range of manipulation capabilities. To demonstrate the utility of the added DoFs, we integrate the gripper in two control pipelines. First, we adapt a model predictive controller for in-hand manipulation of known objects. Second, we introduce a lightweight teleoperation interface that enables simultaneous control of the robot arm and gripper (10 DoFs total) with minimal hardware. Across a suite of challenging manipulation tasks executed via teleoperation, MPC, and trained policies, the proposed gripper consistently improves dexterity and task feasibility compared to a conventional parallel gripper
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。
