3D打印一体成型仿生机械手，四部件实现15自由度灵巧操作。
Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit
- 一体式3D打印皮肤骨骼结构，仅四部件即可完成组装。
- 具备拇指对握、屈伸及四指弯曲等15个自由度动作。
- 适合需要柔顺抓取的机器人应用，如医疗康复或精密作业。
仿人形机器人手受到广泛关注，已有多种材料与机构被提出以模拟人体特征。尽管软材料在模仿人体表皮特性方面具有优势，但为实现复杂运动，常导致零件数量增多，装配困难。本研究提出一种皮肤-骨骼一体化的仿生机器人手，具备15个自由度，仅由四个部件构成。该机械手主要由3D打印机一次性制造的单一柔性部件组成，装配简便，可实现拇指的内收、屈曲和对掌，以及四指的屈曲动作。
原文摘要 · Abstract (English)
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate the characteristics of the human body's epidermis, it increases the number of parts and makes assembly difficult in order to perform complex movements. In this study, we propose a skin-skeleton integrated robot hand that has 15 degrees of freedom and consists of four parts. The developed robotic hand is mostly composed of a single flexible part produced by a 3D printer, and while it can be easily assembled, it can perform adduction, flexion, and opposition of the thumb, as well as flexion of four fingers.
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