Problem
Research questions and friction points this paper is trying to address.
tendon-driven
five-fingered hand
tactile perception
dexterous manipulation
A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation
🤖 AI Summary
为提高机器人手的灵巧性和触觉感知能力，设计了一种肌腱驱动的五指手，并在手指上分布双模态触觉传感器，通过多种操作实验证明了其有效性。
📝 Abstract
To apply the techniques of embodied artificial intelligence to human-oid robots for complex manipulations, dexterous robotic hands are indispensable, which are restricted by the dexterity and tactile perception capability. In this work, we proposed a novel design of tendon-driven five-fingered hand with dis-tributed tactile perception. With a soft-rigid-hybrid structure employed, both compliance and operational force are endowed to the hand. Dual-modality tactile sensing elements are distributed on the distal and middle phalanges of all five fingers, enabling the simultaneous detection of static contact and dynamic force variations. Manipulation experiments, including counting gestures, finger-to-thumb pinching, object grasping, and bottle-grasp tactile recording, demonstrate the feasibility of the integrated actuation-perception system.
Innovation
Methods, ideas, or system contributions that make the work stand out.
tendon-driven
dual-modality tactile sensing
soft-rigid-hybrid structure
🔎 Similar Papers
