Study on the Design and Tactile Percention of New Fully Actuated Bionic Hand

Xuewen Ping

doi:10.16578/j.issn.1004.2539.2022.03.026

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Study on the Design and Tactile Percention of New Fully Actuated Bionic Hand

Development·Application | 更新时间：2022-09-24

- Study on the Design and Tactile Percention of New Fully Actuated Bionic Hand
- Journal of Mechanical Transmission Vol. 46, Issue 3, Pages: 170-176(2022)
- 作者机构：
  
  1.山西机电职业技术学院机械工程系，山西长治 046011
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.03.026
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平学文.新型全驱动仿生手设计及触感研究[J].机械传动,2022,46(03):170-176.

Ping Xuewen.Study on the Design and Tactile Percention of New Fully Actuated Bionic Hand[J].Journal of Mechanical Transmission,2022,46(03):170-176.
平学文.新型全驱动仿生手设计及触感研究[J].机械传动,2022,46(03):170-176. DOI： 10.16578/j.issn.1004.2539.2022.03.026.

Ping Xuewen.Study on the Design and Tactile Percention of New Fully Actuated Bionic Hand[J].Journal of Mechanical Transmission,2022,46(03):170-176. DOI： 10.16578/j.issn.1004.2539.2022.03.026.

摘要

针对欠驱动仿生手精细操作性能差、触觉感知能力不足等问题，通过电磁换向及皮带传动的驱动方式，设计出一种新型双向全驱动仿生手。采用单个电机驱动方式，实现了对5指仿生手15个手指关节正反双向独立驱动，并加工制作了实验样机。通过采用单路电流与多路角度传感器的联合使用，实现了对手指关节角度的准确控制；同时，通过对角度传感器与驱动电流进行数据采集和匹配处理，建立了电流幅值变化与关节力、电流变化率与软硬度的数学模型，丰富了仿生手触觉感知能力。搭建平台对仿生手的抓取能力进行了测试，结果表明，在电流与角度传感器配合使用下，仿生手具有良好的抓取特性；其双向独立驱动模式提升了仿生手的抓取效率。

Abstract

Aiming at the problems of poor fine operation performance and tactile perception of underactuated bionic hand，a new bidirectional fully actuated bionic hand is designed by means of electromagnetic reversal and belt driving. The 15 finger joints of the five-fingered bionic hand are independently driven by a single motor，and an experimental prototype is manufactured. By adopting the single current and multi-angle sensor used in combination，not only accurate control of finger joint angle is realized，at the same time，through the study of the data acquisition of angle sensor and drive current and matching processing，the current amplitude change and the joint force，current change rate and the mathematical model of hardness are established，which enrich the bionic hand tactile perception ability. A platform is built to test the grasping ability of the bionic hand，which shows the bionic hand presents good grasping characteristics when the current and angle sensor are used together，and the bidirectional independent driving mode improves the grasping efficiency of the bionic hand.

关键词

电磁换向双向驱动电流反馈触觉感知

Keywords

Electromagnetic reversalBidirectional driveCurrent feedbackTactile perception

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Department of mechanical engineering，Shanxi Institute of Mechanical and Electrical Engineering

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