Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge.Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size...Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge.Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force,grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci’s mechanism driven by a flexible twisted string actuator(TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light,flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70% of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.展开更多
This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot mo...This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.展开更多
基金supported partly by the Fund of State Key Laboratory of Fluid Power and Mechatronic Systems (Zhejiang University), China。
文摘Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge.Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force,grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci’s mechanism driven by a flexible twisted string actuator(TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light,flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70% of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.
基金Project supported by the Grant from Zhejiang Lab,China(No.2019KE0AD01)。
文摘This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.
