新型腱驱动五指手实现柔顺操作与多模态触觉感知
A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation
- 采用软硬混合结构，兼顾柔顺性与操作力
- 五指分布双模态触觉传感器，可同时感知静态接触与动态力变化
- 实测验证了抓握、捏合等复杂操作的可行性
为将具身人工智能技术应用于人形机器人以完成复杂操作，灵巧机械手不可或缺，但其性能受限于灵巧度与触觉感知能力。本文提出一种新型腱驱动五指手，具备分布式触觉感知能力。通过采用软-硬混合结构，赋予手部柔顺性与操作力。所有五指的远端与中节指骨上分布双模态触觉传感元件，可同步检测静态接触与动态力变化。操控实验包括数手势、指尖对捏、物体抓取及瓶体抓握触觉记录，验证了集成驱动-感知系统的可行性。
原文摘要 · Abstract (English)
To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.
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