通过融合四指五指的外展内收运动，提升抓取范围并减少执行器数量。
Beyond Anthropomorphism: Enhancing Grasping and Eliminating a Degree of Freedom by Fusing the Abduction of Digits Four and Five
- 将无名指与小指的外展/内收关节合并为单一大范围运动关节。
- 抓取范围扩大400%，最大侧向抓取距离达200毫米，成功率86%。
- 适合需要灵活抓握的非人形物体操作，如工业装配与复杂场景应用。
本文提出SABD机械手，一种16自由度的机器人手，突破传统拟人设计，实现更广的抓取范围、超越人类能力的操控姿态，并减少所需驱动器数量。通过将第四指与第五指的外展/内收关节融合为一个大范围运动的单关节，该设计使手指工作空间扩大400%，同时保持灵巧性。实验表明，该关节支持最大侧向抓取距离达200毫米。基于强化学习的测试显示，该设计不仅适用于更大物体，还能提升抓取稳定性。在遥操作测试中，对合适的YCB物体成功完成86%的尝试抓取，包括非拟人构型的挑战任务。结果验证了该设计在不增加复杂性的前提下，显著提升抓取稳定性、灵活性和灵巧操作能力，适用于广泛应用场景。补充视频见 https://youtu.be/P3jRts46o4s。
原文摘要 · Abstract (English)
This paper presents the SABD hand, a 16-degree-of-freedom (DoF) robotic hand that departs from purely anthropomorphic designs to achieve an expanded grasp envelope, enable manipulation poses beyond human capability, and reduce the required number of actuators. This is achieved by combining the adduction/abduction (Add/Abd) joint of digits four and five into a single joint with a large range of motion. The combined joint increases the workspace of the digits by 400% and reduces the required DoFs while retaining dexterity. Experimental results demonstrate that the combined Add/Abd joint enables the hand to grasp objects with a side distance of up to 200 mm. Reinforcement learning-based investigations show that the design enables grasping policies that are effective not only for handling larger objects but also for achieving enhanced grasp stability. In teleoperated trials, the hand successfully performed 86% of attempted grasps on suitable YCB objects, including challenging non-anthropomorphic configurations. These findings validate the design's ability to enhance grasp stability, flexibility, and dexterous manipulation without added complexity, making it well-suited for a wide range of applications. A supplementary video is available at https://youtu.be/P3jRts46o4s .
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