Design and Analysis of a Synergy-Inspired Three-Fingered Hand

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-05-01 DOI:10.1109/ICRA40945.2020.9196901

Chen Wenrui, Xia Zhilan, Lu Jingwen, Zhao Zilong, W. Yao-nan

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引用次数: 4

Abstract

Hand synergy from neuroscience provides an effective tool for anthropomorphic hands to realize versatile grasping with simple planning and control. This paper aims to extend the synergy-inspired design from anthropomorphic hands to multi-fingered robot hands. The synergy-inspired hands are not necessarily humanoid in morphology but perform primary characteristics and functions similar to the human hand. At first, the biomechanics of hand synergy is investigated. Three biomechanical characteristics of the human hand synergy are explored as a basis for the mechanical simplification of the robot hands. Secondly, according to the synergy characteristics, a three-fingered hand is designed, and its kinematic model is developed for the analysis of some typical grasping and manipulation functions. Finally, a prototype is developed and preliminary grasping experiments validate the effectiveness of the design and analysis.

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协同启发的三指手的设计与分析

神经科学的手协同作用为拟人手提供了有效的工具，通过简单的规划和控制实现多功能抓取。本文旨在将协同启发设计从拟人手扩展到多指机器人手。受协同作用启发的手在形态上不一定是类人的，但其主要特征和功能与人的手相似。首先，对手协同的生物力学进行了研究。探讨了人手协同作用的三个生物力学特征，为机器人手的力学简化奠定了基础。其次，根据三指手的协同特性，设计了三指手，建立了三指手的运动学模型，分析了三指手的典型抓取和操作功能。最后，开发了样机并进行了初步的抓取实验，验证了设计和分析的有效性。

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IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation

CiteScore

6.80

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0.00%

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