绳驱动五指灵巧手的设计

通过研究人手的生理结构特点,模仿人手结构,应用欠驱动原理和适应性原理对五指灵巧手进行了初步设计。该灵巧手共有16个自由度,采用了绳驱动机构,具有结构简单、重量轻等优点。通过灵巧手模型的抓取实验,验证了其运动方式和抓取性能。     

仿人型残疾人假手机构的研究

采用欠驱动原理和耦合原理研制了具有感知功能的集成化多自由度的假手,该手尺寸与成年人手相仿,具有抓握物体自适应能力,能够完成力量抓握和精确抓握。采用数学建模的方法设计了手指的四连杆机构,并进行了参数优化设计及静力学和运动学分析。     

Design of an underactuated anthropomorphic hand with mechanically implemented postural synergies

Neurology shows that human controls dozens of muscles for hand poses in a coordinated manner and such coordination is referred as to a postural synergy. The concept of postural synergies was recently adopted in the control of robotic hands. With the synergies implemented digitally in a controller, all the motors in an anthropomorphic robotic hand can be controlled via a few synergy inputs. Aiming at exploring alternative approaches for synergy realization, this paper proposes to implement the postural synergies using a mechanical transmission unit. Two rotation inputs can be scaled, combined, and mapped to the rotary outputs to drive an anthropomorphic hand, enabling not only various grasping tasks but also a manipulation motion. Synergy synthesis and design of the anthropomorphic hand are firstly presented. The transmission unit as the implementation of the postural synergies is then elaborated. Tests were performed to quantify how well the synergies could be reproduced via this transmission unit. The results suggest it might be promising to construct a low cost yet versatile prosthetic hand by implementing the postural synergies mechanically.