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Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis
Industrial Robot ( IF 1.8 ) Pub Date : 2021-04-06 , DOI: 10.1108/ir-09-2020-0211
Zhicheng Tao , Shineng Sheng , Zhipei Chen , Guanjun Bao

Purpose

This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand manipulation abilities, which simplifies the complex and redundant humanoid five-finger hand system.

Design/methodology/approach

First, the authors developed the fingers and the joint configuration with a series of gesture primitives configurations and the modular virtual finger scheme, refined from the daily work gesture library by principal component analysis. Then, the authors optimized the joint degree-of-freedom configuration with the bionic design analysis of the anatomy, and the authors optimized the dexterity workspace. Furthermore, the adaptive fingertip and routing structure were designed based on the dexterous manipulation theory. Finally, the effectiveness of the design method was experimentally validated.

Findings

A novel lightweight three-finger and nine-degree-of-freedom dexterous hand with force/position perception was designed. The proposed routing structure was shown to have the capability of mapping the relationship between the joint space and actuator space. The adaptive fingertip with an embedded force sensor can effectively increase the robustness of the grasping operation. Moreover, the dexterous hand can grasp various objects in different configurations and perform in-hand manipulation dexterously.

Originality/value

The dexterous hand design developed in this study is less complex and performs better in dexterous manipulation than previous designs.



中文翻译:

基于手势基元分析的多构型灵巧手设计新方法

目的

本文旨在提出一种基于人类日常抓取任务的手势原语分析的新方法,用于设计具有各种抓取和手部操作能力的灵巧手,简化复杂和冗余的人形五指手系统。

设计/方法/方法

首先,作者通过主成分分析从日常工作手势库中提炼出一系列手势基元配置和模块化虚拟手指方案,开发了手指和关节配置。然后,作者通过解剖学的仿生设计分析优化了关节自由度配置,并优化了灵巧性工作空间。此外,基于灵巧操作理论设计了自适应指尖和路由结构。最后,通过实验验证了设计方法的有效性。

发现

设计了一种具有力/位感知的新型轻量级三指九自由度灵巧手。所提出的路由结构被证明具有映射关节空间和执行器空间之间关系的能力。嵌入力传感器的自适应指尖可有效增加抓取操作的鲁棒性。而且,灵巧的手可以抓握不同配置的各种物体并灵巧地进行手部操作。

原创性/价值

本研究中开发的灵巧手设计不那么复杂,并且在灵巧操作方面比以前的设计表现更好。

更新日期:2021-04-06
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