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基于抓取任务分析的肌驱动机器人手指的设计和控制

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
PubMed
概括

研究人员通过设计12条肌驱动的指纹路径来分析人类的手抓. 特定路径优化了肌张力,关节角度控制和减少摩擦,为机器人手设计提供了宝贵的见解.

关键词:
抓住抓住抓住抓住抓住这是一本受人类启发的书.操纵 操纵 操纵 操纵假肢手是一种手的假肢.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物力学 生物力学
  • 人与计算机的交互

背景情况:

  • 了解人类手的结构特征对于开发先进的机器人手至关重要.
  • 掌握任务涉及复杂的操纵,手指压力和关节角度动态.

研究的目的:

  • 在掌握任务时分析人类手的结构特征.
  • 为肌驱动的手指设计和评估新的肌绳传输路径.
  • 为肌驱动的手指开发运动性能模型.

主要方法:

  • 数据收集手套被用来记录手的操纵特征,手指端的压力,在典型的抓取任务期间的关节曲角度.
  • 在N + 1型肌驱动模式下设计了12种肌绳传输路径.
  • 每个路径的运动性能都使用定义的指标进行了评估.

主要成果:

  • 肌路径 (d) 显示有效控制肌张力波动 (在0.25N以内).
  • 肌路径 (e) 提供了最好的控制肌驱动的手指的关节角度.
  • 肌路径 (l) 在最小化肌和滑轮之间的摩擦方面最有效.

结论:

  • 该研究提供了基于12条评估的路径的肌驱动的手指的运动性能模型.
  • 这些发现对于未来的肌驱动的手指结构设计和控制策略是有价值的参考.
  • 优化的肌路径设计可以显著提高机器人手的性能.