Robotic hands: mechatronic design and compliance control of a self-sensing finger prototype

J. Martin; B. Huard; M. Robert; M. Grossard

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Robotic hands: mechatronic design and compliance control of a self-sensing finger prototype

机译：机械手：自感应手指原型的机电设计和顺应性控制

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摘要

Service and humanoid robotics are expected to be able to interact safely, yet efficiently, with a priori unknown environments, objects or humans. For this reason, robotic hands should display a high level of anthropomorphism, dexterity and compliance.

机译：服务和类人机器人有望与先验未知环境，物体或人类安全，高效地交互。因此，机械手应表现出较高的拟人性，灵活性和顺从性。

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来源
《Computer methods in biomechanics and biomedical engineering》 |2011年第1期|p.103-105|共3页
作者
J. Martin; B. Huard; M. Robert; M. Grossard;
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作者单位

Interactive Robotics Laboratory, CEA, LIST, Fontenay aux Roses F-92265, France;

Interactive Robotics Laboratory, CEA, LIST, Fontenay aux Roses F-92265, France;

Interactive Robotics Laboratory, CEA, LIST, Fontenay aux Roses F-92265, France;

Interactive Robotics Laboratory, CEA, LIST, Fontenay aux Roses F-92265, France;

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原文格式 PDF
正文语种 eng
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关键词
robotic hands; actuators; compliant structures; compliance control;

机译：机械手执行器;顺应性结构;合规控制;

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专利

1. Design of a novel finger of DLR/HIT dextrous robot hand basedon mechatronic integration [J] . LIU Yi-wei, ZHAO Jing-dong, JIN Ming-he, 哈尔滨工业大学学报（英文版） . 2009,第003期

机译：基于机电一体化的DLR / HIT灵巧机器人手的新型手指设计
2. Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger [J] . Al-Darraji Izzat, K?l?? Ali, Kapucu Sadettin Mechanical Sciences . 2018,第2期

机译：变刚度肌腱驱动机器人手指的机电设计和基于遗传算法的MIMO模糊控制
3. Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation [J] . Vulliez P., Gazeau J. P., Laguillaumie P., Robotica . 2018,第8期

机译：专注于用于内部手操作的新型灵巧机器人手的机电一体化设计
4. Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads [C] . L. Biagiotti, P. Tiezzi, G. Vassura, IEEE International Conference on Robotics and Automation . 2005

机译：柔软手指垫的建模和控制机器人手的遵守
5. A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand. [D] . Grisham, Joe Paul. 1992

机译：模块化指尖设计，可正常控制三只手指的dextrous机械手的力。
6. Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size [O] . J. Felipe Aguilar-Pereyra, Eduardo Castillo-Castaneda 2016

机译：适合手指大小的柔韧性可重构机器人系统的设计
7. Development a Myoelectric Prosthetic Hand for Partial Hand Amputees to Use Successfully Remaining Finger -Proposal of the Design Method for Mechanical System and Control System and Prototype - [O] . Yuta MURAI, Yoshiko YABUKI, Masahiro ISHIHARA, 2019

机译：开发一个肌电假肢，用于部分手致言论，可成功地使用机械系统和控制系统和原型设计方法的手指 -
8. Design and control of a multi-fingered robot hand provided with tactile feedback [R] . Vanbrussel, H., Santoso, B., Reynaerts, D. 1989

机译：设计和控制具有触觉反馈的多指机器人手

Robotic hands: mechatronic design and compliance control of a self-sensing finger prototype

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