仿人软组织机器人前臂，具有独立关节腕骨，实现类人自适应刚度调节能力
Anthropomimetic Soft Robotic Forearm with Independently Articulated Carpal Bones Enabling Human-Like Adaptive Stiffness Modulability
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中文总结 AI 辅助
本研究通过解剖精确的仿人前臂机器人，揭示腕骨形态对实现类人自适应刚度调节的关键作用，为类人机器人手腕设计提供原则。
中文摘要 AI 辅助
人类手腕表现出自适应刚度调节能力：关节刚度各向异性可通过肌肉共收缩主动调节。这一功能对于稳定操作至关重要，但其潜在的形态学因素尚不清楚。为识别这些因素，我们开发了解剖学上精确的仿人软组织机器人前臂，包含八块由韧带连接的独立可动腕骨、22块驱动肌肉和柔性指尖。我们在四种肌肉激活模式下，对三种骨骼构型测量了腕关节刚度：解剖学正常的腕骨、融合的近端腕骨排以及几何椭球骨架。刚度椭圆在手指肌肉激活时沿投掷运动（DTM）方向表现出低刚度，但在手腕和手指肌肉同时激活时沿同一方向表现出高刚度。这些结果与先前报道的人体测量结果一致，表明精确的解剖复制能再现类人刚度调节能力。融合近端腕骨排消除了手指肌肉激活时沿DTM方向的低刚度，而几何椭球骨架在所有条件下均表现出较差的刚度椭圆重定向能力。腕骨运动分析显示，在近端腕骨排处，手腕和手指肌肉之间存在显著相反的耦合模式，同时在腕中关节处伴随一致但非显著的趋势，这为这种调节提供了机械学解释。这些发现表明腕骨形态在人类手腕刚度调节中起主导作用，并为类人机器人手腕提供了设计原则。
英文摘要
The human wrist exhibits adaptive stiffness modulability: joint stiffness anisotropy can be actively regulated through muscle co-contraction. This functionality is essential for stable manipulation, yet the underlying morphological factors remain unclear. To identify these factors, we developed an anatomically accurate anthropomimetic soft robotic forearm comprising eight independently movable carpal bones interconnected by ligaments, 22 actuated muscles, and compliant fingertips. We measured wrist joint stiffness under four muscle activation patterns across three skeletal configurations: anatomically normal carpal bones, a fused proximal carpal row, and a geometric ellipsoidal skeleton. The stiffness ellipse exhibited low stiffness along the dart-throwing motion (DTM) direction when finger muscles were activated, but high stiffness along the same direction when wrist and finger muscles were activated simultaneously. These results agree with previously reported human measurements, demonstrating that precise anatomical replication reproduces human-like stiffness modulability. Fusing the proximal carpal row eliminated the low DTM-direction stiffness under finger muscle activation, while the geometric ellipsoidal skeleton showed poor stiffness ellipse reorientation across all conditions. Carpal bone motion analysis revealed significantly opposing coupling patterns between wrist and finger muscles at the proximal carpal row, accompanied by a consistent but non-significant trend at the midcarpal joint, providing a mechanical explanation for this modulation. These findings demonstrate that carpal bone morphology plays a dominant role in human wrist stiffness modulation and provide design principles for humanoid robot wrists.
发表机构
- The University of Electro-Communications（电气通信大学）
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