【作者】 范伟； 余麟； 刘昭博； 刘昊； 彭光正；

【Author】 Wei Fan,Lin Yu,Zhaobo Liu,Hao Liu,Guangzheng Peng (Department of Automatic Control,Beijing Institute of Technology,Beijing,100081,China)

【机构】 北京理工大学自动控制系；

【摘要】 提出应用气动人工肌肉的五指灵巧手设计方案,包括各手指的结构设计以及手指与手掌的连接设计,手指采用腱传动方式, 灵巧手总共具有17个自由度．手指端有滑觉传感,手掌中有握紧力传感．灵巧手具有充分的自由度,结构紧凑、新颖,并具有力知觉能力,仿生性好．更多还原

【Abstract】 Designing ideas of the dexterous hand with five fingers actuated by pneumatic muscle actuators are introduced in detail, including the mechanical configuration of the fingers and the linkage between the fingers and the palm, which refers to the tendon drive of human. The slide sensors on the tip of the finger and the grip force sensor in the center of the palm are also applied in the hand. This novel compact dexterous hand has 17 DOF, and has the sense of force, therefore, human-like.更多还原