Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission

作     者：Teru Chen Xingwei Zhao Guocai Ma Bo Tao Zhouping Yin Teru Chen;Xingwei Zhao;Guocai Ma;Bo Tao;Zhouping Yin

作者机构：State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System TechnologyBeijing Institute of Electronic System EngineeringBeijing 100854China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2021年第34卷第4期

页      面：225-235页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.91948301) Hubei Provincial Technology Innovation Project of China(Grant No.2019AAA071) Open Fund of State Key Laboratory of Robotics and System(Grant No.SKLRS-2019-KF-11). 

主　　题：Humanoid hand Bidirectional elastomeric passive transmission Artificial prosthesis 

摘      要：Motion control of the human hand is the most complex part of the human body.It has always been a challenge for a good balance between the cost,weight,responding speed,grasping force,finger extension,and dexterity of prosthetic hand.To solve these issues,a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission(BEPT)is designed in this paper.A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is conducted.For a good imitation of human hand and an excellent grasping performance,specific BEPT is selected according to human finger grasping experiments.The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved.Experiments proved that the designed prosthetic hand’s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°.It also has a good force compliance effect with only 430g’s weight.It can not only grab fragile objects like raw eggs and paper cup,but also achieve strong grasping force to damage metal cans.This humanoid hand has considerable application prospects in artificial prosthesis,human-computer interaction,and robot operation.