Department of Mechanical Engineering, Ajou University, Suwon, 16499, Korea.
Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea.
Nat Commun. 2021 Dec 14;12(1):7177. doi: 10.1038/s41467-021-27261-0.
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.
机器人手具有多项类似于人手的惊人功能，从而在执行任务方面具有很高的灵活性。然而，在不增加额外驱动部件的情况下开发集成手，同时保持人类水平的灵巧性和抓取力等重要功能是具有挑战性的。驱动部件使得这些手难以集成到现有的机器人臂中，从而限制了它们的适用性。基于连杆驱动机构，开发了一种称为 ILDA 手的集成连杆驱动灵巧拟人机器人手，它集成了所有驱动和传感所需的组件，并具有很高的灵巧性。它具有以下特点：15 个自由度（20 个关节），指尖力为 34N，尺寸紧凑（最大长度：218mm），无需额外部件，重量轻 1.1kg，具有触觉感应能力。实际的操纵任务涉及日常生活中使用的工具，这些任务都是用安装在商业机器人臂上的手来完成的。
