一种用于灵巧操作的带分布式触觉感知的肌腱驱动五指机械手
A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation
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中文总结 AI 辅助
该研究针对人形机器人复杂操作需求，设计了带分布式触觉感知的刚柔混合肌腱驱动五指机械手，通过双模态触觉传感实现接触与力检测，实验验证了其集成驱动-感知系统的可行性。
中文摘要 AI 辅助
为将具身人工智能技术应用于人形机器人以完成复杂操作，灵巧机械手是必不可少的，但这类机械手受限于灵巧性和触觉感知能力。本研究提出了一种新型的带分布式触觉感知的肌腱驱动五指机械手设计，采用刚柔混合结构，使机械手兼具柔顺性和操作力。双模态触觉传感元件分布在五指的远节指骨和中节指骨上，可同时检测静态接触和动态力变化。操作实验包括手势计数、指-拇指捏持、物体抓取及瓶子抓取触觉记录，验证了集成驱动-感知系统的可行性。
英文摘要
To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.
