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首页> 外文期刊>The International journal of robotics research >Multi-segment soft robotic fingers enable robust precision grasping
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Multi-segment soft robotic fingers enable robust precision grasping

机译：多段软机器人手指可实现鲁棒精度抓取

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摘要

In this work, we discuss the design of soft robotic fingers for robust precision grasping. Through a conceptual analysis of the finger shape and compliance during grasping, we confirm that antipodal grasps are more stable when contact with the object occurs on the side of the fingers (i.e., pinch grasps) instead of the fingertips. In addition, we show that achieving such pinch grasps with soft fingers for a wide variety of objects requires at least two independent bending segments each, but only requires actuation in the proximal segment. Using a physical prototype hand, we evaluate the improvement in pinch-grasping performance of this two-segment proximally actuated finger design compared to more typical, uniformly actuated fingers. Through an exploration of the relative lengths of the two finger segments, we show the tradeoff between power grasping strength and precision grasping capabilities for fingers with passive distal segments. We characterize grasping on the basis of the acquisition region, object sizes, rotational stability, and robustness to external forces. Based on these metrics, we confirm that higher-quality precision grasping is achieved through pinch grasping via fingers with the proximally actuated finger design compared to uniformly actuated fingers. However, power grasping is still best performed with uniformly actuated fingers. Accordingly, soft continuum fingers should be designed to have at least two independently actuated serial segments, since such fingers can maximize grasping performance during both power and precision grasps through controlled adaptation between uniform and proximally actuated finger structures.
机译：在这项工作中，我们讨论了软机器人手指的设计，以实现鲁棒精密抓取性。通过对手指形状和顺应性的概念分析，我们确认当与物体接触时，在手指（即，夹紧Grasps）而不是指尖时，反向爪子更稳定。此外，我们表明，通过针对各种物体的软手指实现这种夹紧爪子需要至少两个独立的弯曲段，但只需要在近端段中的致动。使用物理原型手，我们评估了这种双段的捏合性能的提高，与更典型的，均匀的手指相比，这种双段近似致动手指设计。通过探索两个手指段的相对长度，我们展示了具有被动远端段的手指的功率抓握强度和精密抓握能力之间的权衡。我们在基于收购区域，对象大小，旋转稳定性和对外力的鲁棒性的基础上表征了抓握。基于这些指标，我们确认通过通过通过手指捏合而通过近侧致动的手指设计来实现更高质量的精度抓取，与均匀致动的手指相比。然而，用均匀的手指仍然最佳地进行动力抓握。因此，软连续式手指应设计成具有至少两个独立致动的连续段，因为这种指状物可以通过在均匀和近侧致动的手指结构之间的受控适应期间最大化抓握性能和精密掌握。

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