Hao Tianze, Xiao Huaping, Liu Shuhai, Zhang Chao, Ma Hao
College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing, China.
Soft Robot. 2022 Aug;9(4):745-753. doi: 10.1089/soro.2021.0017. Epub 2021 Nov 5.
Soft robotic hands provide better safety and adaptability than rigid robotic hands. Furthermore, a multijointed structure that imitates the movement of a human hand represents significant progress in realizing its anthropomorphism. In this study, we present a multijointed pneumatic soft anthropomorphic hand that is capable of expressing letters through sign language and grasping different objects using three grasping modes, namely thumb grasping, precision grasping, and power grasping. This novel soft hand is composed of multijointed soft fingers, a thumb, thenar, and 3D-printed palm. Tests were performed to characterize the displacement track and force performance of the fingers, thumb, and thenar, which was made by mold casting silicone rubber. In addition, a dedicated pneumatic control system was designed and built to enable the soft hand to automatically perform the tasks set by specific programs. This new multijointed hand with a flexible thenar represents significant progress in the development of anthropomorphic bionic hands, offering the benefits of fast response, low cost, as well as ease of fabrication, assembly, and replacement.
与刚性机器人手相比，软体机器人手具有更好的安全性和适应性。此外，模仿人类手部运动的多关节结构在实现其拟人化方面取得了重大进展。在本研究中，我们展示了一种多关节气动软体拟人手，它能够通过手语表达字母，并使用三种抓握模式（即拇指抓握、精确抓握和强力抓握）抓取不同物体。这种新型软体手由多关节软手指、拇指、大鱼际和3D打印手掌组成。通过测试对由模铸硅橡胶制成的手指、拇指和大鱼际的位移轨迹和力性能进行了表征。此外，还设计并构建了一个专用的气动控制系统，以使软体手能够自动执行特定程序设定的任务。这种具有灵活大鱼际的新型多关节手在拟人化仿生手的发展中取得了重大进展，具有响应速度快、成本低以及易于制造、组装和更换的优点。
