外观
论文arXiv 2608.255472 个月前
面向灵巧操作的具有分布式触觉感知的腱驱动五指手
原文链接：A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation（arXiv 2608.25547 · 发布日期：2026-08-26）
A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation
针对灵巧手受灵巧性与触觉感知限制，提出带分布式双模态触觉的腱驱五指手，并在多种操作实验中验证。
核心要点
- 复杂操作中的人形机器人需要灵巧手，但其灵巧性和触觉感知能力仍受限制。
- 该手采用软硬混合结构，兼具顺应性与操作力，并通过腱驱动实现五指设计。
- 双模态触觉元件分布在五指远节和中节，可同时检测静态接触与动态力变化。
- 计数手势、指拇捏合、物体抓取和瓶抓触觉记录展示了驱感一体系统可行性。
验证范围与局限：验证限于计数手势、指拇捏合、物体抓取和瓶抓触觉记录等操作实验。
英文摘要 (Abstract)
To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.
作者：Huayang Chen, Longhui Qin
来源
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