软体仿人灵巧手的研究进展

刘羿伯; 肖华平; 刘传旺; 孙振皓; 郝天泽; 刘书海

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软体仿人灵巧手的研究进展

更新时间：2024-12-18

- 软体仿人灵巧手的研究进展
- Research status of soft anthropomorphic dexterous hands
- 机械传动 2024年页码：1-18
- 作者机构：
  
  1.中国石油大学（北京）机械与储运工程学院，北京 102249］
  2.天津理工大学天津市先进机电系统设计与智能控制重点实验室，天津 300384
  3.天津理工大学机电工程国家级实验教学示范中心，天津 300384
- 作者简介：
  
  刘羿伯，男，1995年生，陕西西安人，博士；主要研究方向为软体仿人灵巧手、柔性触觉传感器；2021310304@student.cup.edu.cn。
  肖华平（通信作者），男，1983年生，四川广安人，副教授；主要研究方向为软体机器人技术、高端油气装备设计；hxiao@cup.edu.cn。
- 基金信息：
  
  北京市自然科学基金项目(3232013)
- DOI：
  中图分类号： TP241
- 网络出版日期：2024-12-18，
  
  收稿日期：2024-06-05，
  
  修回日期：2024-09-12，
- 稿件说明：
移动端阅览
刘羿伯，肖华平，刘传旺，等.软体仿人灵巧手的研究进展［J］.机械传动，XXXX，XX（XX）：1-18.

LIU Yibo，XIAO Huaping，LIU Chuanwang，et al.Research status of soft anthropomorphic dexterous hands［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-18.
刘羿伯，肖华平，刘传旺，等.软体仿人灵巧手的研究进展［J］.机械传动，XXXX，XX（XX）：1-18. DOI：

LIU Yibo，XIAO Huaping，LIU Chuanwang，et al.Research status of soft anthropomorphic dexterous hands［J］.Journal of Mechanical Transmission，XXXX，XX（XX）：1-18. DOI：

摘要

意义

软体仿人灵巧手是一种由柔性材料构成的机器人末端执行器，可以实现类人的抓取及操作，具有高度的灵巧性、出色的环境适应性和人机交互中的安全性等特点。【分析】综述了国内外软体仿人灵巧手在灵巧性和抓取操作能力方面的表现；从驱动方式、材料与制造、建模和控制方面对软体仿人灵巧手的研究现状进行了详细的介绍和分析；讨论了软体仿人灵巧手所面临的潜在挑战与可能的发展方向，指出提升其灵巧性和触觉感知能力是未来研究的重点方向。

Abstract

Significance

Soft anthropomorphic dexterous hands

as a type of robot end effector composed of soft materials

are capable of achieving human-like grasping and manipulation abilities

and are characterized by high dexterity

outstanding environmental adaptability

and safety in the human-robot interaction. [Analysis] The performance of soft anthropomorphic dexterous hands in terms of dexterity and grasping operation capabilities was reviewed

followed by a detailed introduction and analysis of the research status of soft anthropomorphic dexterous hands in terms of driving methods

materials and manufacturing

flexible tactile sensing

modeling and control. Finally

the potential challenges and possible development directions faced by soft anthropomorphic dexterous hands were discussed

and emphasizing that improving their dexterity and tactile perception capabilities is a key focus of future research.

关键词

软体机器人机械手仿人灵巧手触觉感知建模与控制

Keywords

Soft roboticsRobotic handAnthropomorphic dexterous handTactile sensingModeling and control

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