Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both of these cases, a grasp synergy can be represented as a low-dimensional manifold lying in the high-dimensional joint posture or torque space. In this article, we use the term mechanically realizable manifolds to refer to the subset of such manifolds (in either posture or torque space) that can be achieved via mechanical coupling of the joints in underactuated hands. We present a method to optimize the design parameters of an underactuated hand in order to shape the mechanically realizable manifolds to fit a predefined set of desired grasps. Our method guarantees that the resulting synergies can be physically implemented in an underactuated hand, and will enable the resulting hand to both reach the desired grasp postures and achieve quasi-static equilibrium while loading the grasps. We demonstrate this method on three concrete design examples motivated by a real use case, and evaluate and compare their performance in practice.

中文翻译：

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通过姿势和扭矩空间中机械可实现流形的优化进行肌腱驱动手的欠驱动设计


抓取协同作用代表了一个有用的想法，可以在不影响多功能性的情况下降低抓取复杂性。协同作用描述了关节之间的协调模式，无论是在位置（关节角度）还是作用力（关节扭矩）方面。在这两种情况下，抓取协同作用可以表示为位于高维关节姿势或扭矩空间中的低维流形。在本文中，我们使用术语“机械可实现的流形”来指代可以通过欠驱动手中的关节的机械耦合来实现的流形子集（在姿势或扭矩空间中）。我们提出了一种优化欠驱动手的设计参数的方法，以便塑造机械可实现的流形，以适应一组预定义的所需抓握。我们的方法保证所产生的协同作用可以在欠驱动的手上物理实现，并使所得的手能够达到所需的抓握姿势并在加载抓握时实现准静态平衡。我们在由真实用例驱动的三个具体设计示例中演示了这种方法，并在实践中评估和比较它们的性能。