典型文献
Modeling and Analysis of Soft Bionic Fingers for Contact State Estimation
文献摘要：
Contact state estimation is significant for evaluating grasp stability of bionic hands,especially in unknown environments or without visual/tactile feedback.It still remains challenging,particularly for soft bionic hands without integrating complicated external sensors on soft fingers.Focusing on this issue,a proprioceptive-sensing-based systematic solution is proposed to estimate the contact state of soft bionic fingers in a single grasp.A kinematic model for soft fingers is first developed to capture the joint rotation angles and tendon displacement.A kinetostatic model is further built to estimate the contact force when soft fingers come in contact with objects.On this basis,a system stiffness model for soft fingers during preshaping and initial contact with objects is proposed to perceive the contact state.Moreover,an instantaneous stiffness model for soft fingers when initial contact occurs is developed for estimating the contact position on certain phalanges,especially the contact position along the distal phalange.The proposed proprioceptive-sensing-based approach is the first application in soft fingers without integrating complicated external sensors,which makes them concise and practical.Experiments are carried out to demonstrate the effectiveness and efficiency of our proposal.
文献关键词：
中图分类号：
作者姓名：
Yongyao Li;Ming Cong;Dong Liu;Yu Du
作者机构：
School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China;School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116028,China
文献出处：
引用格式：
[1]Yongyao Li;Ming Cong;Dong Liu;Yu Du-.Modeling and Analysis of Soft Bionic Fingers for Contact State Estimation)[J].仿生工程学报（英文版）,2022(06):1699-1711
A类：
Fingers,kinetostatic,preshaping,phalanges,phalange
B类：
Modeling,Analysis,Soft,Bionic,Contact,State,Estimation,state,estimation,significant,evaluating,grasp,stability,bionic,hands,especially,unknown,environments,without,visual,tactile,feedback,It,still,remains,challenging,particularly,soft,integrating,complicated,external,sensors,fingers,Focusing,this,issue,proprioceptive,sensing,systematic,solution,proposed,estimate,contact,single,kinematic,model,first,developed,capture,joint,rotation,angles,tendon,displacement,further,built,force,when,come,objects,On,basis,stiffness,during,initial,perceive,Moreover,instantaneous,occurs,estimating,position,certain,along,distal,approach,application,which,makes,them,concise,practical,Experiments,are,carried,demonstrate,effectiveness,efficiency,our,proposal
AB值：
0.498106
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