论文标题
部分可观测时空混沌系统的无模型预测
Anthropomorphic Twisted String-Actuated Soft Robotic Gripper with Tendon-Based Stiffening
论文作者
论文摘要
意识到高性能软机器人抓手是具有挑战性的，因为软执行器和人工肌肉的固有局限性，包括低力输出，小动理范围和不良的紧凑性。尽管在这一领域取得了进步，但意识到具有较高敏捷性和力量输出的紧凑型软抓手仍然具有挑战性。本文探索了扭曲的弦乐执行器（TSA），以驱动软机器人抓手。 TSA已用于众多机器人应用中，但是它们包含在软机器人中是有限的。提议的抓手设计灵感来自人类的手。具有拮抗TSA的手指中实现了可调刚度。手指的弯曲角度，驱动速度，阻塞力输出和刚度调谐。抓手在Kapandji测试中取得了6分，并重新创建了Feix Grasp分类法的33个抓地力中的31个。它表现出72 N的最大握力，几乎是其自身重量的13倍。比较研究表明，与其他类似的软握手相比，提出的抓手表现出等效或出色的性能。
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness. Despite advances in this area, realizing compact soft grippers with high dexterity and force output is still challenging. This paper explores twisted string actuators (TSAs) to drive a soft robotic gripper. TSAs have been used in numerous robotic applications, but their inclusion in soft robots has been limited. The proposed design of the gripper was inspired by the human hand. Tunable stiffness was implemented in the fingers with antagonistic TSAs. The fingers' bending angles, actuation speed, blocked force output, and stiffness tuning were experimentally characterized. The gripper achieved a score of 6 on the Kapandji test and recreated 31 of the 33 grasps of the Feix GRASP taxonomy. It exhibited a maximum grasping force of 72 N, which was almost 13 times its own weight. A comparison study revealed that the proposed gripper exhibited equivalent or superior performance compared to other similar soft grippers.
