外观
论文arXiv 2609.272401 个月前
用于灵巧高效抓取与操作的准直接驱动欠驱动非对称手
原文链接：A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation（arXiv 2609.27240 · 发布日期：2026-09-23）
A Quasi-Direct-Drive Underactuated Asymmetric Hand for Dexterous and Efficient Grasping and Manipulation
提出 Berkeley QUAD Hand，通过 QDD 与非对称欠驱设计，在硬件评估中验证灵巧高效抓取与操作。
核心要点
- 动机：QDD 具高力透明性，但低扭矩密度带来尺寸、重量和热限制。
- 方法：径侧手指用独立 QDD 负责灵巧性，尺侧手指用欠驱柔顺耦合增强力量。
- 传动：预加载连杆机构使中指轻载直驱、无名指跟随，重载时增强闭合力。
- 结果：硬件评估完成 29/33 类 Feix 抓取，回驱力低至 50 g，持续载荷发热最多降 96 倍。
验证范围与局限：验证范围为硬件评估，包括 Feix taxonomy 抓取、精细交互回驱力和持续载荷发热。
英文摘要 (Abstract)
In this paper, we present the Berkeley QUAD (Quasi-direct-drive, Underactuated, Asymmetric Design) Hand, a four-finger anthropomorphic robotic hand with 11 degrees of freedom and 8 degrees of actuation. The design utilizes QDD actuation at the base of each finger, enabling high force transparency for dexterous, adaptive performance. However, the low torque density of these actuators traditionally presents major issues with size, weight, and thermal limits. We overcome this by applying bio-inspired asymmetry, delegating dexterity to the radial fingers through individual QDD actuation, and strength to the ulnar finger through an underactuated, compliantly coupled transmission driven by a larger QDD motor. A novel preloaded, linkage-based transmission permits this ulnar coupling in a way that preserves human-like workspace reachability. Under light loads, the ulnar motor drives the third (middle) finger directly for dexterity while the fourth (ring) finger mirrors its motion. However, under larger loads, the middle finger complies while the motor drives the ring finger further downwards and inwards toward the center of the grasp to apply better closure forces. Hardware evaluations validate this architecture, demonstrating that the hand achieves 29 out of 33 Feix taxonomy grasps and exhibits backdrive forces as low as 50 g for delicate interactions. Additionally, the underactuated fourth finger improves grasp closure and provides the spatial efficiency necessary for larger actuation, yielding up to a 96-fold reduction in heat generation during sustained loading. Webpage: https://benudavis.github.io/berkeley-quadhand/
作者：Benjamin Davis, Chase Kidder, Hannah S. Stuart
来源
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