Related Experiment Video
Updated: Jun 23, 2025
03:55
Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
Published on: October 27, 2023
2.1K
Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis
Xuanyi Zhou1,2,3, Hao Fu2,4, Baoqing Shentu1
1State Key Laboratory of Chemical Engineering, College of Chemical and Biological Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, China.
Biomimetics (Basel, Switzerland)
|June 26, 2024
Summary
Researchers analyzed human hand grasping by designing 12 tendon-driven finger paths. Specific paths optimized tendon tension, joint angle control, and reduced friction, offering valuable insights for robotic hand design.
Area of Science:
- Robotics
- Biomechanics
- Human-Computer Interaction
Background:
- Understanding human hand structural characteristics is crucial for developing advanced robotic hands.
- Grasping tasks involve complex manipulation, finger pressure, and joint angle dynamics.
Purpose of the Study:
- To analyze human hand structural characteristics during grasping tasks.
- To design and evaluate novel tendon rope transmission paths for tendon-driven fingers.
- To develop a motion performance model for tendon-driven fingers.
Main Methods:
- Data collection gloves were used to record hand manipulation characteristics, finger end pressure, and joint bending angles during typical grasping tasks.
- Twelve types of tendon rope transmission paths were designed under an N + 1 type tendon drive mode.
- The motion performance of each path was evaluated using a defined metric.
Main Results:
- Tendon path (d) demonstrated effective control of tendon tension fluctuations (within 0.25 N).
- Tendon path (e) provided the best control over the joint angle of the tendon-driven finger.
- Tendon path (l) was most effective in minimizing friction between the tendon and pulley.
Conclusions:
- The study provides a motion performance model for tendon-driven fingers based on 12 evaluated paths.
- The findings serve as a valuable reference for future tendon-driven finger structure design and control strategies.
- Optimized tendon path designs can significantly improve the performance of robotic hands.
