Development of an anthropomorphic hand for a mobile assistive robot

A. Kargov, T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer, Rüdiger Dillmann
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引用次数: 62

Abstract

In this paper the mechanism, design, and control system of a new humanoid-type hand with human-like manipulation abilities is discussed. The hand is designed for the humanoid robot which has to work autonomously or interactively in cooperation with humans. The ideal end effector for such a humanoid would be able to use the tools and objects that a person uses when working in the same environment. Therefore, a new hand is designed for anatomical consistency with the human hand. This includes the number of fingers and the placement and motion of the thumb, the proportions of the link lengths, and the shape of the palm. The hand can perform most of human grasping types. In this paper, particular attention is dedicated to measurement analysis, technical characteristics, and functionality of the hand prototype. Furthermore, first experience gained from using hand prototypes on a humanoid robot is outlined.
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移动辅助机器人拟人化手的研制
本文讨论了一种具有仿人操作能力的新型人形手的机理、设计和控制系统。手是为类人机器人设计的,它必须与人类自主或互动地合作工作。对于这种类人机器人来说,理想的末端执行器应该能够使用人类在相同环境中工作时使用的工具和物体。因此,一个新的手被设计为解剖学上与人类的手一致。这包括手指的数量、拇指的位置和运动、连接长度的比例以及手掌的形状。这只手可以完成大多数人类抓取类型。在本文中,特别关注的是测量分析,技术特点,以及手原型的功能。此外,还概述了在类人机器人上使用手部原型所获得的第一次经验。
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