H-PAC Hand：面向控制的建模与欠驱动机械手的肌腱弹性补偿
H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand
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中文总结 AI 辅助
本文提出模块化欠驱动机械手H-PAC，通过面向控制的建模与肌腱弹性补偿方法，结合分层控制架构，大幅提升关节角度预测精度，实现无传感器下的位姿与抓取控制。
中文摘要 AI 辅助
欠驱动肌腱驱动机械手具有紧凑的驱动结构和被动柔顺性，但在复位弹簧负载下的肌腱伸长会引入与构型相关的关节偏差。本文提出H-PAC，这是一款模块化6个驱动器、15个自由度（DoF）的机械手，配备面向控制的建模与实现框架。从肌腱布线几何中推导得到稀疏的解析驱动器-关节模型，并开发了基于力学的补偿模型以修正肌腱弹性引起的关节误差。所提方法在分层架构中实现：主机计算机执行工作空间约束下的位姿映射与补偿，ESP32为6个位置控制伺服电机生成同步指令。所有任务均使用相同的控制参数与执行策略，无需针对特定任务重新调谐。单调伺服扫描实验表明，该补偿方法大幅提升了关节角度预测精度：食指远端指间（DIP）关节的平均绝对误差（MAE）从1.15度降至0.18度，所有9个被评估关节的MAE均低于0.23度。在控制回路中未使用外部关节或力传感器的情况下，通过同一控制管线进一步实现了代表性位姿与抓取构型。结果表明，该方法是一种提升紧凑欠驱动机械手末端执行器位姿可复现性的实用方案。
英文摘要
Underactuated tendon-driven hands offer compact actuation and passive compliance, but tendon elongation under restoring-spring loading introduces configuration-dependent joint deviations. This paper presents H-PAC, a modular 6-actuator, 15-DoF robotic hand with a control-oriented modeling and implementation framework. A sparse analytical actuator-joint model is derived from the tendon-routing geometry, and a mechanics-based compensation model is developed to account for tendon-elasticity-induced joint errors. The proposed method is implemented in a hierarchical architecture: a host computer performs workspace-constrained posture mapping and compensation, while an ESP32 generates synchronized commands for six position-controlled servos. The same control parameters and execution strategy are used across all tasks without task-specific retuning. Monotonic servo-sweep experiments show that the compensation substantially improves joint-angle prediction. The MAE of the index DIP joint decreases from 1.15 degrees to 0.18 degrees, and all nine evaluated joints achieve an MAE below 0.23 degrees. Representative postures and grasping configurations are further executed using the same control pipeline without external joint or force sensing in the control loop. The results demonstrate a practical approach to improving posture reproducibility in compact underactuated robotic end-effectors.
发表机构
- The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
- Southeast University（东南大学）
机构由 AI 辅助整理，请以论文原文为准。
