AI 中文总结
研究提出非对称折纸弯曲模式和非对称双腔设计，构成OSOR手的手指和手掌致动器，在一体式结构中实现仿生运动与足够输出性能，简化制造，经实验验证，其弯曲范围和输出力达标，能完成多种抓握动作，为软机器人手发展带来新可能。
AI 中文摘要
软机器人手固有的被动适应性使其在需要安全且柔顺交互的应用中具有优势。然而，现有软机器人手因结构复杂，往往难以同时实现足够的输出性能和易于制造。本文引入用于产生弯曲运动的非对称折纸弯曲（AOB）模式和用于获得多功能能力的非对称双腔（ADC）设计。设计了AOB单腔（AOB-S）和AOB双腔（AOB-D）单元，构成了所提出的折纸启发式软机器人（OSOR）手的手指和手掌致动器。OSOR手在一体式结构中实现了仿生的手指-手掌运动和足够的输出性能，显著简化了制造过程。通过定义非对称比来表征单元的几何不对称性，提出了AOB和ADC结构的分析模型。通过几何分析获得了用于AOB致动器设计的有限元分析工具。非对称折纸设计通过单一热塑性聚氨酯材料的选择性激光烧结打印工艺实现了OSOR手的一体化制造。模型和模拟通过实验结果得到验证。实验表明，手指和手掌的最大弯曲运动范围分别为203°和40°，输出力分别为6.3 N和16 N。OSOR手能够捏取一块组织，用两个手指稳定地抓取水瓶，仅用手掌抓取，并完成制造抓握分类中的强力抓握。所提出的手的紧凑性、性能和易于制造为软机器人手的发展带来了新的可能性。
英文摘要
The passive adaptability inherent in soft robotic hands affords them advantages in applications that require safe and compliant interaction. However, existing soft robotic hands often struggle to simultaneously achieve adequate output performance and easy manufacturing due to their complicated structures. In this paper, we introduce the asymmetric origami bending (AOB) pattern for generating bending motion and the asymmetric dual-chamber (ADC) design for obtaining multifunction capability. The AOB single (AOB-S) chamber and AOB dual-chamber (AOB-D) units are designed and constitute the finger and palm actuators of the proposed Origami-inspired SOft Robotic (OSOR) hand. The OSOR hand achieves bio-inspired fingers-palm motions and adequate output performance within a monolithic structure that significantly simplifies the manufacturing process. By defining the asymmetric ratio to characterize the geometric asymmetry of the unit, the analytical models of the AOB and ADC structures are proposed. The Finite Element Analysis tool for the design of AOB actuators is obtained by geometric analysis. The asymmetric origami design grants the integrated manufacturing of the OSOR hand through a Selective Laser Sintering printing process with a single thermoplastic polyurethane material. The model and simulations are validated by experimental results. Experiments show the finger and palm maximum bending motion range of 203° and 40°, respectively, with output forces of 6.3 N and 16 N. The OSOR hand is capable of pinching a piece of tissue, stably grasping water bottles with two fingers, palm-only grasping, and completing the power grasps in the taxonomy of manufacturing grasps. The compactness, performance, and easy manufacturing of the proposed hand benefit the development of the soft robotic hand with new possibilities.
