# 全手灵巧抓取的实时力调节

> 原文链接：https://robotics.hellobike.com/papers/2026-09-24-2609-30082
> 频道：papers | 更新日期：2026-09-24 | 标签：arxiv, cs.RO
> 核心摘要：提出基于跟踪物体模型和本体感知的实时全手接触力调节，并在无重力仿真和27自由度臂手系统上验证。

# 全手灵巧抓取的实时力调节

::: v-pre
> 原文链接：[Real-Time Force Regulation for Whole-Hand Dexterous Grasping](https://arxiv.org/abs/2609.30082)（arXiv 2609.30082 · 发布日期：2026-09-24）

**Real-Time Force Regulation for Whole-Hand Dexterous Grasping**

提出基于跟踪物体模型和本体感知的实时全手接触力调节，并在无重力仿真和27自由度臂手系统上验证。

## 核心要点

- 预计算力分配在物体运动、建模误差或外部扰动下容易失效。
- 方法用跟踪物体模型和本体感知估计全手各连杆接触，无需触觉感知。
- 控制器反复在摩擦、执行器限制和驱动一致性约束下重算期望接触力。
- 无重力仿真显示抓取保持优于固定分配和仅指尖执行，真机展示保持与恢复。

**验证范围与局限**：验证包括无重力仿真中的受控扰动，以及27自由度臂手系统上人施加扰动下的全手接触演化。

## 英文摘要 (Abstract)

Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand. A precomputed force distribution can easily fail under object motion, modeling errors, or external disturbances. In this paper, we present a framework for real-time force regulation over dynamically changing whole-hand contacts. Our method geometrically estimates contacts across all hand links using a tracked object model and proprioception, without requiring tactile sensing at those contacts. It repeatedly recomputes the desired contact-force distribution subject to friction constraints, actuator limits, and an actuation-consistency constraint motivated by classical whole-limb force analysis. We integrate this force-regulation controller with reactive reaching, enabling the hand to acquire a grasp, maintain it under disturbances, and regrasp after losing the object. Simulation experiments without gravity demonstrate improved grasp retention over fixed-allocation and fingertip-only execution under controlled perturbations, while real-world experiments on a 27-DoF arm-hand system demonstrate grasp maintenance and recovery under human-applied disturbances as contacts evolve across the whole hand. Project page: https://sangminkim-99.github.io/reactive-grasp-whole-hand/

作者：Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin, Sangbae Kim, Young Min Kim, Yonghyeon Lee
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## 原始参考来源 (Sources)

- [arXiv 2609.30082：Real-Time Force Regulation for Whole-Hand Dexterous Grasping](https://arxiv.org/abs/2609.30082)