Cao Shengke, Bao Guanjun, Pan Lufeng, Yang Bangchu, Zhou Xuanyi
College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 330009, China.
Biomimetics (Basel). 2025 Mar 3;10(3):155. doi: 10.3390/biomimetics10030155.
As the end-effector of a humanoid robot, the dexterous hand plays a crucial role in the process of robot execution. However, due to the complicated and delicate structure of the human hand, it is difficult to replicate human hand functionality, balancing structural complexity, and cost. To address the problem, the article introduces the design and development of a multi-finger synergistic adaptive humanoid dexterous hand with underactuation flexible articulated fingers and integrated pressure sensors. The proposed hand achieves force feedback control, minimizes actuator use while enabling diverse grasping postures, and demonstrates the capability to handle everyday objects. It combines advanced bionics with innovative design to optimize flexibility, ease of manufacturing, and cost-effectiveness.
作为仿人机器人的末端执行器，灵巧手在机器人执行过程中起着至关重要的作用。然而，由于人手结构复杂且精细，难以复制人手功能，同时还要兼顾结构复杂性和成本。为解决这一问题，本文介绍了一种具有欠驱动柔性关节手指和集成压力传感器的多指协同自适应仿人灵巧手的设计与开发。所提出的灵巧手实现了力反馈控制，在实现多种抓握姿势的同时最大限度地减少了执行器的使用，并展示了处理日常物品的能力。它将先进的仿生学与创新设计相结合，以优化灵活性、制造简易性和成本效益。
