论文标题
RBO Hand 3-软灵感的平台
RBO Hand 3 -- A Platform for Soft Dexterous Manipulation
论文作者
论文摘要
我们提出了RBO Hand 3，这是一种基于气动驱动的高功能强大且多才多艺的拟人化软手。 RBO Hand 3旨在实现灵巧的操作，促进有关人类灵活性的见解，并作为广泛现实世界实验的强大研究平台。它通过将许多驱动程度与内在合规性，复制人手的相关功能以及将强大的组件结合在模块化设计中来实现这些设计目标。 RBO手3具有16个独立的致动度，以灵巧的相反的拇指，两腔手指，一个致命的棕榈和伸开手指的能力实现。在这项工作中，我们得出了基于对手的前辈实验的设计目标，对人抓地的观察以及对敏捷性原理的见解。我们详细说明了RBO Hand 3的设计特征如何实现这些目标，并通过证明其在Kapandji测试中获得最高得分的能力来评估手，以实现拇指对手的最高分数，实现所有33种全面的掌握分类法的类型，以复制共同的人类掌握策略，并执行非手持操作。
We present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to serve as a robust research platform for extensive real-world experiments. It achieves these design goals by combining many degrees of actuation with intrinsic compliance, replicating relevant functioning of the human hand, and by combining robust components in a modular design. The RBO Hand 3 possesses 16 independent degrees of actuation, implemented in a dexterous opposable thumb, two-chambered fingers, an actuated palm, and the ability to spread the fingers. In this work, we derive the design objectives that are based on experimentation with the hand's predecessors, observations about human grasping, and insights about principles of dexterity. We explain in detail how the design features of the RBO Hand 3 achieve these goals and evaluate the hand by demonstrating its ability to achieve the highest possible score in the Kapandji test for thumb opposition, to realize all 33 grasp types of the comprehensive GRASP taxonomy, to replicate common human grasping strategies, and to perform dexterous in-hand manipulation.
