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相关概念视频

Muscles of the Forearm that Move the Hand and Fingers01:17

Muscles of the Forearm that Move the Hand and Fingers

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The muscles of the forearm that move the wrist, hand, and digits are numerous and diverse. They can be classified into two groups based on their location and function — the anterior and posterior compartment muscles.
Anterior Compartment
The anterior compartment muscles originate from the humerus. They primarily function as flexors and are also known as flexor muscles. They typically insert on the carpals, metacarpals, and phalanges. The superficial layer includes the flexor carpi...
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相关实验视频

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Adaptation of a Haptic Robot in a 3T fMRI
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哈达尔手:以13-DoF混合动力驱动为基础的右手人形机器人手

Prashanth Jonna, Madhav Rao

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
    |July 11, 2025
    PubMed
    概括

    这项研究介绍了混合动力主动的人形机器人手 (HADAR) 手,这是一种新的假肢手设计. 它以更少的执行器实现了95%的人类掌握配置,使先进的机器人手更实惠和更容易获得.

    科学领域:

    • 机器人技术 机器人技术 机器人技术
    • 生物医学工程 生物医学工程
    • 假肢手术 假肢手术是一门专业.

    背景情况:

    • 精巧的机器人手对于先进的假肢至关重要,但通常价格过高.
    • 仿生手中的高执行器数量限制了广泛采用和可负担性.

    研究的目的:

    • 开发一种具有成本效益的机器人手,可以复制人类掌握的配置,并减少执行器的要求.
    • 评估复制所有人手自由度 (DoFs) 的必要性,以实现功能性掌握.

    主要方法:

    • 介绍了混合动力操作的巧妙的人形机器人 (HADAR) 手,这是一个13-DoF机器人手.
    • 采用混合动力执行策略:链接驱动的近端关节和基于肌的远端关节.
    • 利用职业研究和功能运动范围 (FROM) 数据来优化执行器数量.

    主要成果:

    • 哈达尔手实现了95%的人类掌握配置,执行器比传统设计少得多.
    • 成功复制了14/15 Cutkosky 掌握,31/33 Feix GRASP 分类学和6/10 Kapandji 大指对立性测试.
    • 通过负担得起的执行器和增材制造来证明成本效益.

    结论:

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    • 哈达尔手为经济实惠,高性能机器人手和假肢提供了可行的解决方案.
    • 这种设计显著减少了执行器数量,而不会影响抓取能力.
    • 在先进的假肢开发中促进可访问性和可重复性.