新型柔性关节让机械手更像人手，能自适应抓取且稳定性更强。
Compliant Beaded-String Jamming For Variable Stiffness Anthropomorphic Fingers
- 用可变刚度的珠串锁紧机制实现柔性关节，兼具弹性与可控刚度。
- 刚度范围0.48–1.95 Nm/rad（提升4倍），响应快、结构紧凑。
- 实测抓取成功率比刚性手高60%，适合精密操作场景。
实现类人手灵巧性的机器人夹持器仍是未解难题，尤其在不确定环境下的鲁棒操作。软体机器人通过被动柔顺性提升适应能力，减少对高精度传感和复杂控制的依赖。尽管可变刚度机制能提高操作精度与姿态稳定性，但普遍存在残余柔顺性不足、体积大、响应慢等问题。本文提出一种柔性珠串锁紧式关节机构，用于仿人手指，具备被动残余柔顺性与可调刚度，运动范围接近人类指间关节。该机构刚度可在0.48–1.95 Nm/rad之间调节（提升4倍），并系统表征了其重复性、滞后性和刚度随锁紧力的变化关系。为验证被动残余柔顺性的重要性，进行了插销入孔实验，集成该设计的夹持器成功率比刚性结构高60%。
原文摘要 · Abstract (English)
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic that is crucial to the adaptability of the human hand, to achieve more robust manipulation while reducing reliance on high-resolution sensing and complex control. Further improvements in terms of precision and postural stability in manipulation tasks are achieved through the integration of variable stiffness mechanisms, but these tend to lack residual compliance, be bulky and have slow response times. To address these limitations, this work introduces a Compliant Joint Jamming mechanism for anthropomorphic fingers that exhibits passive residual compliance and adjustable stiffness, while achieving a range of motion in line with that of human interphalangeal joints. The stiffness range provided by the mechanism is controllable from 0.48 Nm/rad to 1.95 Nm/rad (a 4x increase). Repeatability, hysteresis and stiffness were also characterized as a function of the jamming force. To demonstrate the importance of the passive residual compliance afforded by the proposed system, a peg-in-hole task was conducted, which showed a 60% higher success rate for a gripper integrating our joint design when compared to a rigid one.
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