软指通过自适应扭转变形实现包裹式抓取，适合密集物体中的精准拾取。
Adaptive-twist Soft Finger Mechanism for Grasping by Wrapping
- 单驱动下通过可变刚度机制实现平面内外的自适应扭转
- 有限元分析优化设计参数，实测可稳定抓握多种形状物体
- 适用于复杂空间中夹缝插入与柔性抓取，适合工业分拣场景
本文提出一种能够通过包裹方式抓取物体的软体机械手指，具备平面内和平面外的自适应扭转变形能力。为从密集排列的多个物体中抓取单一目标，软手需能深入狭窄间隙，此时要求手指在插入后仍保持适当的法向接触力以维持扭曲状态。该类抓取称为包裹式抓取。为在单个驱动源下实现上述功能，本文设计了一种可随压力变化自适应调节刚度的机制，并通过有限元分析（FEA）确定最优设计参数。基于所开发的软指，实验展示了对多种物体的基本抓取效果与演示结果。
原文摘要 · Abstract (English)
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the adaptive-twist deformation function in both in-plane and out-of-plane directions. The function allows the finger to be inserted deeply into a limited gap among objects. Once inserted, the soft finger requires appropriate control of grasping force normal to contact surface, thereby maintaining the twisted deformation. In this paper, we refer to this type of grasping as grasping by wrapping. To achieve these two functions by a single actuation source, we propose a variable stiffness mechanism that can adaptively change the stiffness as the pressure is higher. We conduct a finite element analysis (FEA) on the proposed mechanism and determine its design parameter based on the FEA result. Using the developed soft finger, we report basic experimental results and demonstrations on grasping various objects.
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