计算机控制的智能化柔性机械手

该文设计和研制了一种完全可由计算机控制、具有指端触觉传感器的智能化柔性手实验装置,它不仅能像人手一样对触觉和滑觉有敏感的反应,而且利用由接触觉、滑觉信号转变得到的位置命令自动地操纵柔性手。文中的主要贡献是在柔性手指端安装了新型而灵活的触觉传感器,并将传感器的触、滑觉信号转变成位置命令给内部位置控制系统,由对抓握力的控制来实现手指的位置控制。并且由滑觉信号来自动实现位置误差的补偿,响应迅速而准确。经实验证明,该智能化柔性手能顺利完成抓握一定大小和重量范围内的物体的任务,在抓握易破碎的物体时达到了不破不摔的理想抓握状态。

Intelligent dextrous hand controlled by computer

We design and study a dextrous hand system with a tactile sensor controlled by a comput- er. It not only responds sensitively to the tactile and sliding perception like a human hand, but also operates the finger automaticallty by performing the position command coming from tactile and sliding data. The main contributions of this paper are incorporating a novel and flexible tactile sensor in fingertip, and transforming the tactile and sliding data into a command of posi- tion to inner position loop system so as to control the finger operation. The intelligent dextrous hand has been able to grasp the breakable objects like eggs, which will be cracked or slip off from it.