当前位置: X-MOL 学术Soft Robot. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design
Soft Robotics ( IF 7.9 ) Pub Date : 2022-06-16 , DOI: 10.1089/soro.2021.0077
Kieran Gilday 1 , Josie Hughes 2 , Fumiya Iida 1
Affiliation  

Robotic hands have long strived to reach the performance of human hands. The physical complexity and extraordinary capabilities of the human hand, in terms of sensing, actuation, and cognitive abilities, make achieving this goal challenging. At the heart of the physical structure of the hand is its’ passive behaviors. Seen most clearly in soft robotic hands, these behaviors influence and affect the mechanical, sensing, and control functionalities. With this perspective, we present a framework through which passivity in robot hands can be understood, by concretely identifying the role of passivity in the design, fabrication, and control of soft hands. In this framework we focus on the interactions between the physical hand and the: environment, internal actuation, sensor morphology, and wrist control. Taking these surrounding systems away, we are left with a passive soft hand whose behaviors emerge from external interactions. Inspired by the human hand, we define the role of these four key interacting pillars and review how state-of-the art robot hands utilize these four elements to aid functionality. We show how these pillars promote hybrid soft-rigid hands with rich behaviors, providing benefits in terms of the increased adaptability to uncertain environments, improved scalability and reduction in the cost of actuation, sensing, and control. This review provides a conceptual framework for approaching hand design and analysis through consideration of the passive behaviors. This highlights not only the advances that can be made by approaching the problem in this way but also the outstanding challenges that stem from this outlook.

中文翻译:

通过被动身体动力学进行传感、驱动和交互:软机器人手设计框架

长期以来,机械手一直在努力达到人手的性能。人手在感知、驱动和认知能力方面的物理复杂性和非凡能力使实现这一目标具有挑战性。手的物理结构的核心是它的被动行为。在软机器人手上看得最清楚,这些行为影响并影响机械、传感和控制功能。从这个角度来看,我们提出了一个框架,通过具体确定被动在软手的设计、制造和控制中的作用,可以理解机器人手的被动。在这个框架中,我们专注于物理手与:环境内部驱动传感器形态手腕控制. 把这些周围的系统拿走,我们只剩下一只被动的软手,它的行为来自外部交互。受人手的启发,我们定义了这四个关键交互支柱的作用,并回顾了最先进的机器人手如何利用这四个元素来辅助功能。我们展示了这些支柱如何促进具有丰富行为的混合软刚手,在增强对不确定环境的适应性、提高可扩展性和降低驱动、传感和控制成本方面提供好处。本综述提供了一个概念框架,用于通过考虑被动行为来进行手部设计和分析。这不仅凸显了以这种方式解决问题可以取得的进展,而且还凸显了这种前景带来的突出挑战。
更新日期:2022-06-16
down
wechat
bug