Jonna Prashanth, Rao Madhav
IEEE Int Conf Rehabil Robot. 2025 May;2025:712-717. doi: 10.1109/ICORR66766.2025.11062954.
Dextrous robotic hand designs are pivotal in advancing the field of hand prosthetics, enabling users to perform robust grasping tasks essential for daily activities and improved quality of life. However, the widespread adoption of such dextrous hand prosthetics remains hindered by prohibitive costs that arise from the high number of actuators used to replicate natural human hand movements. This research seeks to address this challenge by critically evaluating the necessity of replicating many human hand DoFs and instead proposing a design that achieves 95% of human grasp configurations with a significantly reduced actuator count compared to conventional biomimetic robotic hands. We present the Hybrid-Actuated dextrous Anthropomorphic Robotic (HADAR) Hand, a novel 13-DoF robotic hand optimised for dextrous object grasping with a high degree of visual anthropomorphism. The HADAR Hand employs a hybrid actuation strategy, combining linkagedriven mechanisms for robust proximal joint control and tendon-based actuation for compliant distal joint movement, which is essential for delicate object handling. Utilizing insights from long-term occupational studies and Functional Range of Motion (FROM) data, rigid and elastomeric couplings were developed to bring down the actuator count to less than half the number of major tendons present in the human hand without compromising on the ability to perform human-like grasp configurations. Comprehensive performance evaluations validate the HADAR Hand's capabilities, with results demonstrating success in replicating hand grasps as per Cutkosky's taxonomy (14/15), Feix's GRASP taxonomy (31/33), and the Kapandji thumb opposability test (6/10). To promote accessibility and reproducibility, the HADAR Hand leverages cost-effective, widely available actuators, additive manufacturing techniques, and a compact, two-layer PCB capable of concurrently driving all 13 N20 DC motors that drive the HADAR Hand. This work represents a significant step in developing affordable, highperformance prosthetics and robotic hands.
灵巧的机器人手设计对于推动手部假肢领域的发展至关重要，它能让使用者执行对日常活动至关重要的有力抓握任务，并提高生活质量。然而，这种灵巧的手部假肢的广泛应用仍然受到高昂成本的阻碍，这些成本源于用于复制人类自然手部动作的大量致动器。本研究旨在应对这一挑战，通过批判性地评估复制许多人类手部自由度的必要性，转而提出一种设计，与传统的仿生机器人手相比，该设计以显著减少的致动器数量实现了95%的人类抓握配置。我们展示了混合驱动灵巧拟人机器人（HADAR）手，这是一种新型的13自由度机器人手，针对具有高度视觉拟人性的灵巧物体抓握进行了优化。HADAR手采用混合驱动策略，结合用于稳健近端关节控制的连杆驱动机制和用于柔顺远端关节运动的基于肌腱的驱动，这对于精细物体处理至关重要。利用长期职业研究和功能活动范围（FROM）数据的见解，开发了刚性和弹性联轴器，将致动器数量减少到人类手部主要肌腱数量的一半以下，同时不影响执行类人抓握配置的能力。全面的性能评估验证了HADAR手的能力，结果表明在按照Cutkosky分类法（14/15）、Feix的GRASP分类法（31/33）以及Kapandji拇指对掌试验（6/10）复制手部抓握方面取得了成功。为了促进可及性和可重复性，HADAR手利用了经济高效、广泛可用的致动器、增材制造技术以及能够同时驱动驱动HADAR手的所有13个N20直流电机的紧凑双层印刷电路板。这项工作代表了在开发经济实惠、高性能的假肢和机器人手方面迈出的重要一步。
