外观
论文arXiv 2609.362411 个月前
具备双向操作能力的拮抗腱驱灵巧机器人手的设计与验证
原文链接：Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation（arXiv 2609.36241 · 发布日期：2026-09-28）
Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
针对仿人灵巧手单侧抓取受限，提出双向拮抗腱路由手，并通过传动、力、重复性和抓取实验验证。
核心要点
- 动机：传统仿人五指手主要面向掌侧抓取，反向抓取需腕或臂重定向。
- 方法：构建200 mm、220 g、3D打印17自由度手，采用双向拮抗腱路由。
- 机制：各自由度可越过中立位，在掌侧或背侧形成抓取闭合。
- 实验：传动误差3.0%、带宽13.2 Hz、指尖力29 N，并完成33类抓取。
验证范围与局限：验证范围为该紧凑人尺度机器人手的传动、力、重复性、Kapandji评分及掌侧/背侧抓取任务。
英文摘要 (Abstract)
Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side. Existing reversible hands generally rely on non-anthropomorphic, soft, or task-specific finger arrangements, whereas conventional five-digit anthropomorphic hands remain designed primarily for palmar-side grasping. This paper presents an anthropomorphic, human-scale (200 mm length), lightweight (220 g), 3D-printed, 17-DoF robotic hand built on a bidirectional antagonistic tendon-routing mechanism, in which flexion/extension (except the coupled joint) and abduction/adduction at joints are actively driven without passive return springs. The proposed routing mechanism allows all degrees of freedom to cross their neutral configuration and form grasp closures on either the palmar or dorsal side. Experimental evaluation demonstrates an average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm. The hand further achieves a Kapandji score of 8, successfully performs all 33 GRASP Taxonomy grasp types, and performs palmar- and dorsal-side grasping tasks, validating bidirectional operation in a compact, human-scale platform.
作者：Chunghyeon Lee, Hyukjun Kwon, Sungeon Kim, Saehyun Moon, Seokhwan Jeong
来源
本页事实对应的公开页面，以原文为准。