Abstract
Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge. Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force, grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci’s mechanism driven by a flexible twisted string actuator (TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light, flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70% of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.
概要
目 的
由于空间的限制, 在仿生灵巧机械手设计的时候存在灵巧性与抓握力量之间的矛盾. 本文旨在通过智能机构设计, 实现机械手综合性能的提升.
创新点
1. 基于人手运动数据库对达芬奇机构进行优化, 复现人手运动学特征; 2. 基于绞合线传动机构实现机械手的轻量化和紧凑性设计; 3. 仿生机械手应用于植入式脑机接口临床试验.
方 法
1. 通过理论推导, 构建欠驱动的达芬奇机构运动学与机构参数的关系 (公式(2)); 2. 通过主成分分析, 得到人手关节之间的耦合关系并用于优化达芬奇机构的参数 (图3); 3. 通过几何分析得到绞合线驱动系统的非线性传动公式 (图4和公式 (7)).
结 论
1. 基于绞合线驱动和达芬奇机构的仿生机械手可以在受限空间中实现机械手的抓握力量与灵巧性的平衡; 2. 得益于欠驱动的达芬奇机构, 机械手的灵巧性较好, 能够适应不同形状的物体; 3. 本文所设计的机械手得以成功地应用于中国首例临床植入式脑机接口实验, 展示了高超的灵巧性、 适应性与鲁棒性.
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Acknowledgments
This work is supported partly by the Fund of State Key Laboratory of Fluid Power and Mechatronic Systems (Zhejiang University), China.
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Hong-tao WANG and Wei YANG designed the research. Yong-bin JIN performed the experiments and fabricated the robot. Shao-wen CHENG did the simulation of robot hand. Yan-yan YUAN applied the robot hand to the brain-computer interface experiments. Yong-bin JIN wrote the first draft of the manuscript. Yong-bin JIN, Hong-tao WANG, and Wei YANG revised and edited the final version.
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Yong-bin JIN, Shao-wen CHENG, Yan-yan YUAN, Hong-tao WANG, and Wei YANG declare that they have no conflict of interest.
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Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp
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Jin, Yb., Cheng, Sw., Yuan, Yy. et al. Anthropomorphic hand based on twisted-string-driven da Vinci’s mechanism for approaching human dexterity and power of grasp. J. Zhejiang Univ. Sci. A 23, 771–782 (2022). https://doi.org/10.1631/jzus.A2200216
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DOI: https://doi.org/10.1631/jzus.A2200216
Key words
- Anthropomorphic hand
- da Vinci’s mechanism
- Twisted string actuator (TSA)
- Intelligent mechanism
- Principal component analysis (PCA)