.png){kind=icon}
返回
Robot Finger Module With Multidirectional Adjustable Joint Stiffness
.png){kind=icon}
PRE
AI
DOI：10.1109/TMECH.2010.2090895.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper describes a novel finger mechanism that enables a robot to perform a gentle and dexterous motion. This finger contains three joints, in which the proximal (PIP) and distal intraphalangeal (DIP) joints are coupled rigidly, and the metacarpophalangeal (MP) joint has a multidirectional passive compliance that is adjustable as in humans. In the MP joint, two kinds of silicone-rubber cushions (A-SRC and B-SRC) are placed between a motor-driven disk and an output link. A-SRC plays three roles: 1) transmission of the rotational motion from the motor to the output link by the friction force between the surface of A-SRC and the motor-driven disk; 2) absorption of external forces from multiple directions by its elastic deformation; and 3) sensing the directions and magnitudes of external forces with the change in inside pressure. B-SRC adjusts the characteristics of joint compliance by pressing A-SRC against the motor-driven disk. We investigate the basic performance of this finger module through several experiments.
Keyword:
Adjustable joint stiffness
force sensing
multidirectional passivity
robot finger
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
I
IF:
7.3
论文数:
5.5K
被引数:
2.4W
机构
引用论文
.png){kind=icon}
Application of rubber artificial muscle manipulator as a rehabilitation robot橡胶人工肌肉机械手作为康复机器人的应用
PREAI
分享收藏Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications用于假肢和机器人应用的拟人化人工手的生物电子设计和控制
PREAI
分享收藏A planning system for generating manipulation sequences for the automation of maintenance tasks
PREAI
分享收藏
查看更多内容