用乐高搭建可自适应抓握的仿人机械手，适合儿童学习机器人前沿。
Educational SoftHand-A: Building an Anthropomorphic Hand with Soft Synergies using LEGO MINDSTORMS
- 用乐高零件和差速齿轮实现软协同，让手指自然联动。
- 双电机驱动拮抗肌腱，实现精细响应的抓握控制。
- 仅需家庭常见工具，适合教育场景普及机器人设计。
本文介绍了一种完全使用乐高MINDSTORMS组件构建的仿人机械手——Educational SoftHand-A，其基于Pisa/IIT SoftHand及同类设计，为高度欠驱动、腱驱动结构。为适配教育场景，设计仅使用标准乐高部件，并利用家庭常见设备进行测试。每根手指由双电机驱动一对拮抗肌腱，实现反应式精细控制；通过差速机构与离合齿轮实现软协同，使手指运动协调。整体设计使该机械手能以简单驱动与控制机制自适应抓取多种物体。由于可由乐高组装并融合现代机器人手设计前沿理念，该系统具备启发儿童学习机器人技术的潜力。
原文摘要 · Abstract (English)
This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the Pisa/IIT SoftHand and related hands. To be suitable for an educational context, the design is constrained to use only standard LEGO pieces with tests using common equipment available at home. The hand features dual motors driving an agonist/antagonist opposing pair of tendons on each finger, which are shown to result in reactive fine control. The finger motions are synchonized through soft synergies, implemented with a differential mechanism using clutch gears. Altogether, this design results in an anthropomorphic hand that can adaptively grasp a broad range of objects using a simple actuation and control mechanism. Since the hand can be constructed from LEGO pieces and uses state-of-the-art design concepts for robotic hands, it has the potential to educate and inspire children to learn about the frontiers of modern robotics.
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