基于骨架的气动软体仿人手指制造与实验探究

针对软体机械手指存在弯曲角度小或抓取长度不可变等问题,设计出一种新颖的骨架软体仿人手指。该手指通过在驱动器内部嵌入伸缩骨架并在骨架上设置气道,解决了驱动器伸长时需要保持高刚度和气管连接处气密性薄弱的问题。嵌入刚性骨架并没有破坏软体仿人手指的柔顺性,反而提高了手指的刚度和弯曲位置的控制精度。文中介绍了基于骨架的气动软体仿人手指的详细制备过程并对制备好的手指进行了弯曲、伸长、指尖压力和抓取等实验。实验结果表明,该仿人手指在抓取领域具有良好的应用前景。

梁交叉柔性铰链的仿人手指设计与仿真分析

仿人手指是仿人手结构的重要部分,结合柔性铰链结构,提出了一种梁交叉柔性铰链的仿人手指结构。首先通过有限元仿真分析对比了两种梁交叉柔性铰链关节结构以及直梁柔性铰链关节结构的综合性能,然后设计了一种绳驱动的三梁交叉柔性铰链的仿人手指结构并对该仿人手指结构进行有限元仿真分析,得到了其绳驱动力和绳驱动长度的关系。此设计与分析为柔性铰链结构的仿人手指设计提供了新的思路,具有一定的参考价值。

新型集成化仿人手指及其动力学分析

研究了一种新型的集成化仿人手指。这种手指有两个主要特点:采用微直线驱动器和腱传动相结合的方式驱动手指,实现了机械本体和驱动系统的集成;采用差动机构设计了轴线相交的2自由度基关节,手指末端的两个关节是机械耦合的。系统地分析了手指的运动学和动力学,为灵巧手的优化设计和控制奠定了基础。

人手指的宽度及各节长度的测量

目的 为临床手指的整形、修复、再植再造提供形态学基础。方法 用人体测量仪对 2 5 4例大学生的手指进行了 4项测量。结果 男女各组各指的宽度、各指第一节长度、第二节长度、第三节长度的均值 ,其性别差异具有显著性意义。而各指宽度与相应第一节长度、第二节长度和第三节长度之间无明显相关性。结论 本实验结果为手指的整形、修复、再植再造提供了数据资料。

仿人手指的运动学分析与研究

设计了一种具有独立电机驱动、采用钢丝绳耦合连杆机构传动的多自由度仿人手指,并建立了手指机构的简化模型。同时,基于运动学分析得到了手指运动学模型正解,选取适当手指机构尺寸及各关节的转角范围,通过仿真获得了指端的工作空间。分析比较了有无耦合连杆2种手指各指节的运动位移与时间之间的关系,采用的耦合连杆传动,克服了无连杆传动过程中3个指节间在各个方向上的运动位移明显不一致性。为假手的抓取动作规划、运动姿态控制以及结构优化设计提供了进一步研究的基础。

基于改进蚁群算法的仿人手指优化设计

手功能障碍是现阶段亟待解决的问题。针对患者手部不能自如运动的特点,设计一款单自由度的手指,以此实现对手指的运动和力的传动,解决手指结构的复杂和笨重的问题。在仿人手指优化过程中,常规的蚁群算法易出现停滞现象、收敛速度慢的情况,因此将蚁群算法和遗传算法融合,并在每次迭代过程中,首先依据信息量来选取解分量的初值,之后根据变异操作来确定解的值。仿人手指的机构约束较多,且运动轨迹需最佳逼近给定的运动规律,应用改进蚁群算法对仿人手指进行优化设计,得到各杆长最优解,且优化结果安全可靠,是仿人机械手的新尝试。

基于骨架的气动软体仿人手指设计与仿真分析

针对现有的软体机械手手指存在弯曲形态单一、运动范围小等缺点,设计了一款基于骨架的气动软体仿人手指。该手指由3个弯曲驱动器和2个伸长驱动器的交叉组合而成,既能通过弯曲驱动器灵活地实现复杂弯曲动作,又能通过伸长驱动器控制运动范围。文中通过对基于骨架的气动软体仿人手指结构进行设计,使用Abaqus仿真软件对弯曲驱动器和伸长驱动器进行有限元仿真分析,得到2种软体驱动器在不同参数下的气压-位移变化曲线。根据仿真结果可以得到最佳结构参数,同时说明该软体仿人手指的设计具有可行性。

基于正交试验的仿人手指传感器多参数分析与优化

针对目前空间机器人仿人手指触觉传感器灵敏度低的问题,引入了正交试验进行结构参数分析与优化。在ANSYS软件中建立了仿人手指传感器中内部导电液体简化湍流模型,针对流体的粘度、管径、内部压强、管道弧度四个参数,采用多因素正交试验优化得到了经由流体衰减最小的四种参数数值。优化前后的手指传感器数据采集对比结果证明,优化后的传感器响应更快、获得数据准确性更高,可作为后续研究的参考。

人手指节皮肤表面纹理特征指标与年龄相关性的研究进展

年龄推断是公安侦查的重要环节,直接影响侦查的方向及结果。通过对现有国内外文献资料进行检索,综述了近十年内国内外对人群手指节皮肤表面纹理特征指标与年龄相关性的研究进展,发现人手指节皮肤表面皱纹随年龄的增长,皱纹从较少较浅变得又深又多,且粗纹间距不断加宽,与年龄有明显的相关性。研究结果对国内外法庭科学中年龄推断均具有比较、借鉴和指导价值。

欠驱动机构的运动学分析及应用研究

欠驱动机构是指驱动数少于机构自由度数的一类机构,近些年来对于欠驱动机构的研究主要集中在欠驱动机构的控制策略上,对于欠驱动机构运动规律的研究却不多。探讨了欠驱动机构的运动规律——阻尼最小定理,通过仿真验证了该规律,并将其拓展到四杆机构。运用此规律对于欠驱动仿人手指进行了运动状态分析。最后给出了一些欠驱动机构的应用实例。

Task Oriented Optimal Grasp Planning by Three Fingered Robot Hands

This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task requirements, the geometrical and physical features of the object and the information from the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane is sought and determined. The process of grasp planning is finally carried out by determining three grasp points on the feasible grasp plane.

HIT anthropomorphic robotic hand and finger motion control

Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.

Design and control of integrated pneumatic dexterous robot finger

Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.

Development of Five-Finger Multi-DoF Myoelectric Hands with a Power Allocation Mechanism

To be used as five-fingered myoelectric hands in daily living, robotic hands must be lightweight with the size of human hands. In addition, they must possess the DoFs （degrees of freedom） and high grip force similar to those of human hands. Balancing these requirements involves a trade-off; ideal robotic hands have yet to sufficiently satisfy both requirements. Herein, a power allocation mechanism is proposed to improve the grip force without increasing the size or weight of robotic hands by using redundant DoFs during pinching motions. Additionally, this mechanism is applied to an actual five-fingered myoelectric hand, which produces seven types of motions necessary for activities of daily living and realizes a -60% improvement in fingertip force, allowing three fingers to pinch objects exceeding 1 kg.

^(137)Cs Finger Printing Technique for Erosion and Sedimentation Studies

137 Cs is an artificial radionuclide with a half-life of 30.2 years,which was released into the environment as a byproduct of atmospheric testing of nuclear weapons during the period of 1950s to 1970s with a peak deposition in 1963.137 Cs fallout was strongly and rapidly adsorbed by soil particles when it deposited on the ground mostly with precipitation.Its following movements will associate with the adsorbed particles.137 Cs tracing technique has been widely used in soil erosion and sedimentation studies since 1980s.This paper introduces the basis of the technique and shows several case studies of assessment of soil erosion rates,investigation of sediment sources and dating of reservoir deposits by using the technique in the Loess Plateau and the Upper Yangtze River Basin.

Smart Human Computer Interface with EMG and Vision Based on Multi-modal Information Fusion

A smart Human Interface （HCI） replacing conventional mouse interface is proposed. The interface is able to control and command action with only hand. Four finger motions （left click, right dick, hold, drag） are used to command the interface. Also the authors materialiae cursor movement control using image processing The measure what they use for inference is entropy of Electromyogram （EMG） signal, Gaussian modeling and likelihood estimation. In image processing for cursor control, they use color recognition to get the center point of finger tip from marker, and map the point onto cursor. Accuracy of finger movement inference is over 95% and cursor control works naturally without delay. They materlalize whole system to check its performance and utility.

A protocol for the reporting and methodological quality of robotic surgery case reports

Background:Robotic surgery is a complex innovation intervention.Recently,the number of robotic surgery case reports is increasing,but there is unclear on its reporting and methodological quality.Methods:The PubMed database will be searched with high-specificity search strategy from Jan 1,2012 to Aug 1,2018 to identify relevant records.Microsoft Excel 2016 will be used to generate random number and to select 100 robotic surgery case reports according our eligibility criteria.A data extraction form will be used to extract relevant information including first author,year of publication,journal,etc.The CARE guideline and JBI checklist will be used to separately assess the reporting and methodological quality of included studies.The data extraction and assessment of quality will be completed by independent two authors and any disagreement will be resolved through discussion or consulting the third author.Stratified analyses will be conducted based on extracted information.Review Manager 5.3 software will be used to present the results of stratified analyses with Inverse-Variance random-effect model.Results:The study is ongoing and will be submitted to a peerreviewed journal.Conclusion:The present study will summarize evidence on the reporting and methodological quality of robotic surgery case reports,and provide reference for future case reports but not limited to robotic surgery.Ethics and dissemination:Ethical approval is not required because this study will not include any confidential personal data and interventions on the patients.The results of this study will be published in a peerreviewed publication.

Experimental Results Regarding an Anthropomorphic Original Gripper with Two-Finger Tests during Grasping Objects with Varied Shapes

The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.

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

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.