用可3D打印的梯度晶格结构，让机械手指具备类人多刚度特性。
3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers
- 通过体素大小与单元几何参数化晶格，实现高精度刚度调控。
- 单次3D打印成型，无需组装不同刚度部件。
- 可用于柔性夹爪，配合机械臂完成抓取任务。
人类手指通过软组织（低刚度）、肌腱和软骨（中等刚度）到骨骼（高刚度）的多级结构，实现了卓越的灵巧性与适应性。本文提出一种具有类似多刚度特性的机器人手指设计：利用体素尺寸和单元几何参数化的晶格结构，优化并实现细粒度的刚度调节。该方法的一大优势在于可一次性3D打印完成，无需手动拼装不同刚度的组件。基于此，我们设计了一种新型类人手指及一款柔性夹爪，并将其集成于刚性机械臂上，成功在抓取与放置任务中验证了其有效性。
原文摘要 · Abstract (English)
Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger with similar multi-stiffness characteristics. Specifically, we propose using a lattice configuration, parameterized by voxel size and unit cell geometry, to optimize and achieve fine-tuned stiffness properties with high granularity. A significant advantage of this approach is the feasibility of 3D printing the designs in a single process, eliminating the need for manual assembly of elements with differing stiffness. Based on this method, we present a novel, human-like finger, and a soft gripper. We integrate the latter with a rigid manipulator and demonstrate the effectiveness in pick and place tasks.
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