典型文献
Anthropomorphic hand based on twisted-string-driven da Vinci's mechanism for approaching human dexterity and power of grasp
文献摘要：
Designing anthropomorphic prosthetic hands that approach human-level performance remains a great challenge. Commercial prosthetics are still inferior to human hands in several important properties, such as weight, size, fingertip force, grasp velocity, and active and passive dexterities. We present a novel design based on the under-actuated da Vinci's mechanism driven by a flexible twisted string actuator (TSA). The distributed drive scheme allows structural optimization using a motion capture database to reproduce the natural movement of human hands while keeping adaptability to free-form objects. The application of TSA realizes a high conversion from motor torque to tendon contraction force while keeping the structure light, flexible, and compact. Our anthropomorphic prosthetic hand, consisting of six active and 15 passive degrees of freedom, has a weight of 280 g, approximately 70％of that of a human hand. It passed 30 of the 33 Feix grasp tests on objects in daily living and retained a loading capacity of 5 kg. This simple but intelligent mechanism leads to excellent stability and adaptability and renders feasible wide applications in prosthetics and in service robots.
文献关键词：
中图分类号：
作者姓名：
Yong-bin JIN;Shao-wen CHENG;Yan-yan YUAN;Hong-tao WANG;Wei YANG
作者机构：
Center for X-Mechanics,Zhejiang University,Hangzhou 310027,China;ZJU-Hangzhou Global Scientific and Technological Innovation Center,Zhejiang University,Hangzhou 311200,China;State Key Laboratory of Fluid Power and Mechatronic System,Zhejiang University,Hangzhou 310027,China;Institute of Applied Mechanics,Zhejiang University,Hangzhou 310027,China
文献出处：
引用格式：
[1]Yong-bin JIN;Shao-wen CHENG;Yan-yan YUAN;Hong-tao WANG;Wei YANG-.Anthropomorphic hand based on twisted-string-driven da Vinci's mechanism for approaching human dexterity and power of grasp)[J].浙江大学学报（英文版）（A辑：应用物理和工程）,2022(10):771-782
A类：
Anthropomorphic,prosthetics,dexterities,Feix
B类：
twisted,string,driven,Vinci,mechanism,approaching,human,dexterity,power,grasp,Designing,anthropomorphic,hands,that,level,performance,remains,great,challenge,Commercial,are,still,inferior,several,important,properties,such,weight,size,fingertip,force,velocity,active,passive,We,present,novel,design,under,actuated,by,flexible,actuator,TSA,distributed,scheme,allows,structural,optimization,using,motion,capture,database,reproduce,natural,movement,while,keeping,adaptability,objects,realizes,high,conversion,from,motor,torque,tendon,contraction,structure,light,compact,Our,consisting,six,degrees,freedom,has,approximately,It,passed,tests,daily,living,retained,loading,capacity,This,simple,intelligent,leads,excellent,stability,renders,feasible,wide,applications,service,robots
AB值：
0.586664
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
