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Hybrid Mapping Method:from Human to robotic hands with Dissimilar Kinematics

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Journal of Bionic Engineering 2022年第4期19卷 935-952页

作者： Bingchen Liu Li Jiang Shaowei Fan State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080China

Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.

关键词： robotic hand Human-in-the-loop Grasping Postural synergy Impedance control

Development of Gesture-Changeable under-actuated Humanoid robotic Finger

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Chinese Journal of Mechanical Engineering 2010年第2期23卷 142-148页

作者： ZHANG Wenzeng CHE Demeng CHEN Qiang DU Dong Key Laboratory for Advanced Materials Processing Technology of Ministry of Education Beijing 100084 China Department of Mechanical Engineering Tsinghua University Beijing 100084 China

robotic fingers, which are the key parts of robot hand, are divided into two main kinds： dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fingers can grasp objects self-adaptively, which makes them easy to control and low cost, on the contrary, under-actuated function makes fingers feel hard to grasp things agilely enough and make many gestures. For the purpose of designing a new finger which can grasp things dexterously, perform many gestures and feel easy to control and maintain, a concept called ＂gesture-changeable under-actuated＂（GCUA） function is put forward. The GCUA function combines the advantages of dexterous fingers and under-actuated fingers： a pre-bending function is embedded into the under-actuated finger. The GCUA finger can not only perform self-adaptive grasping function, but also actively bend the middle joint of the finger. On the basis of the concept, a GCUA finger with 2 joints is designed, which is realized by the coordination of screw-nut transmission mechanism, flexible drawstring constraint and pulley-belt under-actuated mechanism. Principle analyses of its grasping and the design optimization of the GCUA finger are given. An important problem of how to stably grasp an object which is easy to glide is discussed. The force analysis on gliding object in grasping process is introduced in detail. A GCUA finger with 3 joints is developed. Many experiments of grasping different objects by of the finger were carried out. The experimental results show that the GCUA finger can effectively realize functions of pre-bending and self-adaptive grasping, the grasping processes are stable. The GCUA finger excels under-actuated fingers in dexterity and gesture actions and it is easier to control and cheaper than dexterous hands, becomes the third kinds of finger.

关键词： robot technology robotic hand gesture-changeable under-actuation pre-bending self-adaptation

Variations in the Biomechanics of 16 Palmar hand Regions Related to Tomato Picking

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Journal of Bionic Engineering 2023年第1期20卷 278-290页

作者： Xue An Zhiguo Li Jun Fu Tobi Fadiji Sheng Zhang College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingXianyang712100China The Key Laboratory of Bionic Engineering(Ministry of Education) Jilin UniversityChangchun130012China Postharvest Research Laboratory Department of Botany and Plant BiotechnologyUniversity of JohannesburgJohannesburg2006South Africa Dynax Corporation 1-12-710FFuchuchoFuchushiTokyo183-0055Japan

The aim of this study is to systematically reveal the differences in the biomechanics of 16 hand regions related to bionic picking of *** biomechanical properties(peak loading force,elastic coefficient,maximum percentage deformation and interaction contact mechanics between human hand and tomato fruit)of each hand region were experimentally measured and covariance *** results revealed that there were significant variations in the assessed biomechanical properties between the 16 hand regions(phand region in its normal direction can elastically deform by at least 15.30%.The elastic coefficient of the 16 hand regions ranged from 0.22 to 2.29 N mm−*** interaction contact force acting on the fruit surface was affected by the selected human factors and fruit *** obtained covariance models can quantitatively predict all of the above biomechanical properties of 16 hand *** findings were closely related to hand grasping performance during tomato picking,such as soft contact,surface interaction,stable and dexterous grasping,provided a foundation for developing a high-performance tomato-picking bionic robotic hand.

关键词： Human hand.Bionic grasping Elastic deformation Tomato picking robotic hand

Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

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Journal of Harbin Institute of Technology(New Series) 2009年第3期16卷 376-381页

作者：刘伊威赵京东金明河刘宏 State Key Laboratory of robotics and System Harbin Institute of Technology

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

关键词： robotic hand sensors mechatronic integration

Review and Research Issues on Underactuated Finger Mechanism

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Review and Research Issues on Underactuated Finger Mechanism