BiFlex腕通过双模刚度设计，实现精密操作与安全柔性的统一。
BiFlex: A Passive Bimodal Stiffness Flexible Wrist for Manipulation in Unstructured Environments
- 采用软屈曲蜂窝结构，自动切换高刚度与低刚度模式。
- 负载达500克时指尖位移小于1厘米，适配多种机械臂夹爪。
- 简化控制流程，适合家庭等非结构化环境中的实际应用。
在非结构化、以人类为中心的环境中进行机器人操作面临双重挑战：既要实现精细自由空间操作所需的精度，又要确保意外接触事件中的安全性。传统腕部难以平衡这些需求，常依赖复杂的控制策略或繁琐的机械设计来缓解过载造成的损害。为此，我们提出BiFlex，一种基于软屈曲蜂窝结构的被动式双模刚度柔性腕部，可自然实现高刚度与低刚度响应。高刚度模式支持精确的家庭物品操作，低刚度模式则提供适应外部力的柔顺性。我们设计的BiFlex腕部可在支撑高达500克负载的同时，保持指尖位移小于1厘米，并成功集成于Panda、Robotiq和BaRiFlex等多种夹爪。通过表面擦拭、精准抓取放置及受环境约束下的抓握等多项真实场景实验验证，结果表明，BiFlex在简化控制的同时，仍能保持精确操作能力并提升实际应用中的安全性。
原文摘要 · Abstract (English)
Robotic manipulation in unstructured, humancentric environments poses a dual challenge: achieving the precision need for delicate free-space operation while ensuring safety during unexpected contact events. Traditional wrists struggle to balance these demands, often relying on complex control schemes or complicated mechanical designs to mitigate potential damage from force overload. In response, we present BiFlex, a flexible robotic wrist that uses a soft buckling honeycomb structure to provides a natural bimodal stiffness response. The higher stiffness mode enables precise household object manipulation, while the lower stiffness mode provides the compliance needed to adapt to external forces. We design BiFlex to maintain a fingertip deflection of less than 1 cm while supporting loads up to 500g and create a BiFlex wrist for many grippers, including Panda, Robotiq, and BaRiFlex. We validate BiFlex under several real-world experimental evaluations, including surface wiping, precise pick-and-place, and grasping under environmental constraints. We demonstrate that BiFlex simplifies control while maintaining precise object manipulation and enhanced safety in real-world applications.
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