低成本软带驱动夹爪，让机械手实现更灵活的物体操控
Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation
- 用双软带结构在不改变开合动作的前提下，增加平移、俯仰、翻转三自由度
- 在遥操作、模型预测控制等任务中，相比传统夹爪提升操作灵巧性和任务成功率
- 结构简单易制造，适合集成到现有机器人系统，适合需要精细操作的场景
平行钳爪是机器人中最常见的末端执行器，因其结构简单、可靠且成本低而被广泛采用。然而其在手内运动能力有限，常需大范围机械臂运动，限制了狭小空间中的灵巧操作。本文提出一种基于双软带的指节模块，可在保持标准开合功能的同时，引入三种在手自由度：平移、俯仰和翻转。该机构设计简洁，面向低成本制造与便捷集成，既保留了传统平行夹爪的可靠性与精确控制，又显著拓展了操作能力。为验证新增自由度的实用性，我们将其集成于两种控制流程：一是适配模型预测控制器（MPC）实现已知物体的在手操作；二是开发轻量级遥操作界面，可同时控制机械臂与夹爪（共10个自由度），仅需少量硬件。在多种复杂操作任务中，无论通过遥操作、MPC还是训练策略，该夹爪均表现出更高的灵巧性与任务可行性，优于传统平行夹爪。
原文摘要 · Abstract (English)
Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpensive. Their limited in-hand mobility, however, often forces large arm motions and restricts dexterous manipulation in confined workspaces. We present a parallel-gripper upgrade: a double-soft-belt-based finger module that preserves standard opening/closing while adding three in-hand degrees of freedom (DoF): translation, pitch, and roll. The mechanism is deliberately kept simple and engineered for inexpensive manufacturing and straightforward integration, preserving the reliability and precise control of traditional parallel grippers while greatly broadening the range of manipulation capabilities. To demonstrate the utility of the added DoFs, we integrate the gripper in two control pipelines. First, we adapt a model predictive controller for in-hand manipulation of known objects. Second, we introduce a lightweight teleoperation interface that enables simultaneous control of the robot arm and gripper (10 DoFs total) with minimal hardware. Across a suite of challenging manipulation tasks executed via teleoperation, MPC, and trained policies, the proposed gripper consistently improves dexterity and task feasibility compared to a conventional parallel gripper
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