灵巧手研究现状及挑战

灵巧手作为仿生学与机器人学结合的产物,具有人手的一些外形特征和功能。灵巧手是第4代机器人,通过模拟人类运动、感知、控制、能量、材料方面的仿生,实现模拟人手运动。通过分析国内外在灵巧手方面取得的成果,可以得知灵巧手的发展经历了早期阶段、初期阶段、中期阶段和跨世纪阶段4个阶段,灵巧手正在日益朝着具有柔顺灵巧的操作功能,具有力觉、触觉、视觉等智能化方向发展。探讨了灵巧手在未来发展中将要面临的挑战,它包括内在知识技术支撑方面的挑战和外在科研环境扶持方面的挑战。针对我国机器人产业的现实状况,借鉴国外成功经验的基础上,给出了一些建设性的建议。

Current situation and challenges on the study of dexterous hand

To be acted as the combinative outcome of bionics and robot the dexterous hand has some contour characteristics and functions of human hands.The dexterous hand is the fourth generation of robots;it realizes the simulation of human hand motions by means of the bionic of simulation on the aspects of movement,perception,control,energy and material of humankind.Through the analysis on the achievements obtained in the aspects of dexterous hand at home and abroad it could be transpired that the development of dex...