Hao Tianze, Ma Yue, Feng Jingjing, Liu Songtao, Wang Jutao
Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China.
National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China.
Soft Robot. 2025 Jun;12(3):364-373. doi: 10.1089/soro.2024.0095. Epub 2025 Apr 22.
Dealing with grasping tasks in unstructured environments, existing soft grippers often exhibit a lack of static stability, while rigid-soft hybrid grippers display limited compliance due to the fixed connections at the joints. To address the challenge of balancing static stability and flexible adaptability, this study designs and implements a bioinspired hybrid gripper combining soft and rigid elements. The gripper draws inspiration from the collateral ligaments and joint capsule structures of human fingers. It employs a tendon-driven mechanism that ensures high static stability while enabling a large range of flexion movements and some degree of deflection, mimicking the dynamic bending of a human finger. Experimental results demonstrate that the hybrid fingers excel in terms of static stability, working range, and output force. Notably, under conditions of extensor tendon pretension, the fingers exhibit finer motion toward the fingertips. The dual-finger gripper performs exceptionally well in various grasping tasks, stably grasping objects of different shapes and weights, such as the Evolved Grasp Analysis Dataset and common daily items. This study offers a novel and straightforward design approach for the development of bioinspired fingers and high-performance robots, holding broad application prospects.
在处理非结构化环境中的抓取任务时，现有的软夹爪往往缺乏静态稳定性，而刚柔混合夹爪由于关节处的固定连接，其柔顺性有限。为应对平衡静态稳定性和灵活适应性的挑战，本研究设计并实现了一种结合软、硬元件的仿生混合夹爪。该夹爪的灵感来源于人类手指的侧副韧带和关节囊结构。它采用肌腱驱动机制，确保了高静态稳定性，同时实现了大范围的弯曲运动和一定程度的偏转，模仿了人类手指的动态弯曲。实验结果表明，混合手指在静态稳定性、工作范围和输出力方面表现出色。值得注意的是，在伸肌腱预紧的情况下，手指向指尖方向的运动更加精细。双指夹爪在各种抓取任务中表现出色，能够稳定地抓取不同形状和重量的物体，如进化抓取分析数据集和常见日常物品。本研究为仿生手指和高性能机器人的开发提供了一种新颖且简单的设计方法，具有广阔的应用前景。
