拮抗肌腱驱动的双向操作灵巧机器人手的设计与验证

中文摘要 AI 辅助

灵巧机器人手通常复现人类手部形态，但继承了其单侧抓取工作空间，需要手腕或手臂重新定向才能从对侧抓取。现有的可逆手通常依赖非拟人化、软体或特定任务的指形布置，而传统的五指拟人化手仍主要设计用于掌侧抓取。本文提出了一种拟人化、人体尺度（长度200毫米）、轻量级（220克）、3D打印、17自由度（DoF）的机器人手，基于双向拮抗肌腱布线机制构建，其中关节的屈曲/伸展（除耦合关节外）和外展/内收均由主动驱动，无需被动复位弹簧。所提出的布线机制允许所有自由度跨越其中性构型，并在掌侧或背侧形成抓取闭合。实验评估表明，平均电机到关节的传动误差为3.0%，平均关节传动带宽为13.2赫兹，最大指尖力为29牛顿，定位重复性高达0.15毫米。该手进一步实现了Kapandji评分8分，成功执行了GRASP分类法中全部33种抓取类型，并执行了掌侧和背侧抓取任务，验证了在紧凑、人体尺度平台上的双向操作能力。

英文摘要

Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side. Existing reversible hands generally rely on non-anthropomorphic, soft, or task-specific finger arrangements, whereas conventional five-digit anthropomorphic hands remain designed primarily for palmar-side grasping. This paper presents an anthropomorphic, human-scale (200 mm length), lightweight (220 g), 3D-printed, 17-DoF robotic hand built on a bidirectional antagonistic tendon-routing mechanism, in which flexion/extension (except the coupled joint) and abduction/adduction at joints are actively driven without passive return springs. The proposed routing mechanism allows all degrees of freedom to cross their neutral configuration and form grasp closures on either the palmar or dorsal side. Experimental evaluation demonstrates an average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm. The hand further achieves a Kapandji score of 8, successfully performs all 33 GRASP Taxonomy grasp types, and performs palmar- and dorsal-side grasping tasks, validating bidirectional operation in a compact, human-scale platform.

发表机构

• Texas A&M University（德克萨斯A&M大学）
• Sogang University（西江大学）

机构由 AI 辅助整理，请以论文原文为准。