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首页> 外文期刊>IEEE Transactions on Robotics >On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies
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On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies

机译：软协同驱动精密手的运动和力可控性

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To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few “postural synergies” explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or “synergies” has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as “soft synergies,” is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.
机译：为了适应许多不同的对象和任务，手是非常复杂的系统，具有许多自由度（DoF），传感器和执行器。在机器人技术中，这种复杂性是以设备硬件的尺寸和重量为代价的，但是它也极大地影响了其编程的简易性。一种可能的简化方法是耦合一些自由度，从而减少有效输入的数量，并最终导致更有效，更简单和可靠的设计。通过关节之间的刚性或顺应性物理耦合，这种耦合可以在软件级别实现更快，更直观的可编程性，也可以在硬件级别实现。致动器之间的物理耦合和通过减少独立输入而简化的控制也是人们对手部运动数据的一种经常报告的解释，其中研究表明，很少有“姿势协同作用”可以解释用于抓住不同物体的手部构造的大部分差异。连同有益的简化方法，将独立输入的数量减少为几个耦合的运动或“协同作用”，这也影响了手灵巧地控制抓握力和手部操纵的能力。本文旨在开发工具，以根据任务和手动实施情况，确定在抓握中应涉及多少协同作用以确保稳定性和效率。通过对准静态模型的分析，定义了与接触力和物体运动可控性有关的结构特性。为了便于讨论，考虑了不同的法规遵从性来源。特别地，讨论了假设的协同作用的顺应模型，称为“软协同作用”。抓取物体的可控内力和运动与操作输入有关。本文研究了具有多个关节的手在多大程度上可以发挥姿势协同作用，以控制所抓物体的力和运动。

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