统一分析软硬混合机械手的操控性与柔顺性，指导设计选型。
Unified Manipulability and Compliance Analysis of Modular Soft-Rigid Hybrid Fingers
- 基于雅可比矩阵建模，统一处理液压与气动驱动响应
- 揭示液压/气动系统在灵巧性与被动刚度间的权衡差异
- 适用于软硬混合手指结构设计与驱动方式选择
本文提出一种统一框架，用于分析模块化软硬混合机器人手指的操控性与柔顺性，适用于液压与气动驱动系统。通过雅可比方法将驱动输入映射到关节与任务空间响应：液压系统假设不可压缩，气动系统采用非线性压容关系建模。该框架可一致评估不同驱动模式下的操控性椭球与柔顺矩阵。基于DexCo（液压）与Edgy-2（气动）两套典型手型验证，结果表明驱动方式直接影响灵巧性与被动刚度的平衡。研究为软硬混合手指的结构感知设计与驱动器选型提供了理论依据。
原文摘要 · Abstract (English)
This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps actuator inputs to joint and task-space responses. Hydraulic actuators are modeled under incompressible assumptions, while pneumatic actuators are described using nonlinear pressure-volume relations. The framework enables consistent evaluation of manipulability ellipsoids and compliance matrices across actuation modes. We validate the analysis using two representative hands: DexCo (hydraulic) and Edgy-2 (pneumatic). Results highlight actuation-dependent trade-offs in dexterity and passive stiffness. These findings provide insights for structure-aware design and actuator selection in soft-rigid robotic fingers.
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