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柔软的机器人手具有触觉的手掌-手指协调
Ningbin Zhang1, Jieji Ren1, Yueshi Dong1
1Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
Nature communications
|March 11, 2025
概括
这项研究引入了一种新的柔软机器人手,其集成的高密度触觉手掌和灵巧的手指. 这种设计增强了掌握稳定性,并为交互操作提供了先进的人机协作.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 感官系统 感官系统
- 人与机器人的交互
背景情况:
- 柔软的机器人手对于交互操作至关重要,但往往缺乏全面的手掌感应.
- 现有的研究主要将传感器集成到机器人手指中,忽视了手掌的潜力.
研究的目的:
- 开发一只带有传感器的机器人手,集成高密度触觉手掌和灵巧的柔软手指.
- 探索合作的手掌手指交互策略,以提高机器人能力.
主要方法:
- 开发了一种紧的视觉触觉手掌,用于高密度的触觉感应.
- 设计用于柔软的多段指的纤维增强气动执行器.
- 实施了合作的手掌指反策略,用于动态任务.
主要成果:
- 实现了更好的抓住稳定性和自动表面重建.
- 证明了准确的对象分类和动态任务执行 (例如,缺陷检测).
- 通过人工智能增强展示了通过人工智能增强的人机协作的增强潜力.
结论:
- 融合丰富的手掌触觉与柔软的灵巧手指,为交互式机器人操作提供了显著的进步.
- 开发的传感手为复杂的操纵任务提供了一个多功能平台.
- 这种方法为更复杂和协作型机器人铺平了道路.
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