设计新型夹爪，自动分离并打开密封袋，减轻护士重复劳损风险。
A gripper for flap separation and opening of sealed bags
- 采用带凹槽滚轮的柔性手指，利用环境约束抓取薄层
- 实测可稳定分离密封袋翻盖，正常力是影响性能的关键变量
- 适合医院高频重复操作场景，缓解医护人员体力负担
分离需逐个抓取的薄而柔性的层状结构，是多数现成夹爪难以应对的抓取任务。典型应用场景出现在临床环境中：为手术室准备无菌平袋时，首步需分离并抓握袋口翻盖。本文提出一种新型夹爪设计与开袋策略，实现可靠的翻盖分离与密封开启。该能力针对医院中高频率重复的操作——护士每班次手动打开多达240个袋子，此过程具高体力负荷，与肌肉骨骼损伤相关。设计结合主动式凹槽滚轮指尖与柔顺手指，利用环境约束稳健抓取薄柔性翻盖。实验表明，所提夹爪能可靠抓取并分离密封袋翻盖及其他医院常见薄层材料；影响性能最敏感的变量为施加的法向力。当两个夹爪同时抓握两侧翻盖时，系统可承受开启密封所需的鲁棒力。据我们所知，这是首个演示机器人协助自动化此类重复性、低价值但关键的医院任务的研究。
原文摘要 · Abstract (English)
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for the preparation of the operating room, where the first step is to separate and grasp the flaps. We present a novel gripper design and opening strategy that enables reliable flap separation and robust seal opening. This capability addresses a high-volume repetitive hospital procedure in which nurses manually open up to 240 bags per shift, a physically demanding task linked to musculoskeletal injuries. Our design combines an active dented-roller fingertip with compliant fingers that exploit environmental constraints to robustly grasp thin flexible flaps. Experiments demonstrate that the proposed gripper reliably grasps and separates sealed bag flaps and other thin-layered materials from the hospital, the most sensitive variable affecting performance being the normal force applied. When two copies of the gripper grasp both flaps, the system withstands the forces needed to open the seals robustly. To our knowledge, this is one of the first demonstrations of robotic assistance to automate this repetitive, low-value, but critical hospital task.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。