仿生机械手精准还原腕掌关节，用镍钛合金增强柔性结构。
RIM Hand : A Robotic Hand with an Accurate Carpometacarpal Joint and Nitinol-Supported Skeletal Structure
- 采用镍钛合金线构建骨骼框架，实现超弹性支撑
- 掌部变形达28%，承载力超刚性设计两倍以上
- 适合假肢与服务机器人，提升抓握稳定性和拟人度
本文提出柔性仿生机械手RIM Hand，精确复现腕掌关节（CMC）解剖结构，并在其骨骼框架中全程采用超弹性镍钛合金（Nitinol）丝。通过完整建模腕骨至掌骨的解剖关系，该设计在腱驱动指节的同时实现真实掌部形变，提升关节复原性，并由镍钛合金背侧伸肌提供结构支撑。柔性硅胶皮肤进一步增加接触摩擦力与接触面积，实现对多样化物体的稳定抓握。实验表明，掌部最大形变量达28%，与人类手部柔韧性相当；相比刚性掌面设计，其承载能力提升超过两倍，接触面积扩大三倍。RIM Hand因此展现出更优的操作灵巧性、顺应性与拟人特征，适用于假肢及服务机器人应用。
原文摘要 · Abstract (English)
This paper presents the flexible RIM Hand, a biomimetic robotic hand that precisely replicates the carpometacarpal (CMC) joints and employs superelastic Nitinol wires throughout its skeletal framework. By modeling the full carpal-to-metacarpal anatomy, the design enables realistic palm deformation through tendon-driven fingers while enhancing joint restoration and supports skeletal structure with Nitinol-based dorsal extensors. A flexible silicone skin further increases contact friction and contact area, enabling stable grasps for diverse objects. Experiments show that the palm can deform up to 28%, matching human hand flexibility, while achieving more than twice the payload capacity and three times the contact area compared to a rigid palm design. The RIM Hand thus offers improved dexterity, compliance, and anthropomorphism, making it promising for prosthetic and service-robot applications.
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