通过仿生指尖结构提升机器人抓握稳定性与精度
PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation
- 采用刚性指甲+柔性指腹的混合指尖设计，控制接触方式
- 实验验证捏持更稳，能传递背向力且感知更清晰
- 适合精细操作场景，如撕纸、挑卡片、剥橙皮
我们提出PLATO手，一种灵巧机器人手，其指尖采用混合结构，结合刚性指甲、嵌入式远端指节和柔性指腹，以调控抓取过程中的接触行为。通过机械组织接触的启动、支撑与传递方式，该结构在不同物体形状与抓握姿态下均能形成稳定且任务相关的接触条件。我们建立了基于应变能的弯曲-压陷模型，指导指尖设计，并解释材料刚度与接触几何如何决定指尖内部的变形分布。实验表明，该设计显著提升了捏持稳定性，增强了指甲介导的背向力传递与本体感知能力，并成功完成边缘敏感操作任务，包括纸张分页、卡片拾取和橙子剥皮。结果表明，将机械结构化的接触界面与力-运动透明的指部机制相结合，为精准操控提供了一种系统性方法。
原文摘要 · Abstract (English)
We present the PLATO Hand, a dexterous robotic hand with a hybrid fingertip that combines a rigid fingernail, embedded distal phalanx, and compliant pulp to shape contact behavior during manipulation. \rrev{By mechanically organizing how contact is initiated, supported, and transmitted at the fingertip, this structure creates stable and task-relevant contact conditions across diverse object geometries and grasp orientations.} We develop a strain-energy-based bending--indentation model to guide the fingertip design and to explain how material stiffness and contact geometry govern deformation partitioning within the fingertip. \rrev{Experiments show improved pinch stability, improved fingernail-mediated dorsal-contact force transmission and proprioceptive observability}, and successful execution of edge-sensitive manipulation tasks, including paper singulation, card picking, and orange peeling. These results show that coupling a mechanically structured contact interface with a force-motion-transparent finger mechanism provides a principled approach to precise manipulation. Our project page is at: https://platohand.github.io
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