基于弹性体材料仿生手的设计、制造及其控制

doi:10.3901/JME.2019.11.069

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 69-75.doi: 10.3901/JME.2019.11.069

• 特邀专栏：共融机器人 • 上一篇下一篇

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基于弹性体材料仿生手的设计、制造及其控制

罗召俊¹, 王帅², 程广贵^1,2, 袁宁一², 丁建宁^1,2

1. 江苏大学微纳米科学技术研究中心镇江 212013;
2. 常州大学江苏省光伏科学与工程协同创新中心常州 213164

收稿日期:2018-08-27 修回日期:2019-04-03 出版日期:2019-06-05 发布日期:2019-06-05
通讯作者: 丁建宁(通信作者),男,1966年出生,博士研究生导师。主要研究方向为弹性体材料与器件。E-mail:dingjn@ujs.edu.cn
作者简介:罗召俊,男,1994年出生。主要研究方向为软体机器人技术。E-mail:zhaojunluo1994@163.com
基金资助:
国家自然科学基金资助项目（91648109，51675236）。

Designing, Manufacturing and Controlling of the Elastic Materials Based Bionic Hand

LUO Zhaojun¹, WANG Shuai², CHENG Guanggui^1,2, YUAN Ningyi², DING Jianning^1,2

1. Micro/Nano Science & Technology Center, Jiangsu University, Zhenjiang 212013;
2. Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering, Changzhou University, Changzhou 213164

Received:2018-08-27 Revised:2019-04-03 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

摘要： 软体机器人是近年来的研究热点，涉及信号检测、控制、致动等多个方面。基于弹性体材料设计制备了一种符合人体手指运动规律的弯曲致动器及其仿生手和电容式可拉伸传感器。仿生手总共设计有14个弯曲关节，且每个弯曲关节都由外部管道独立控制，当外部气压达到50 kPa时，手指关节能够实现90°的弯曲变形，最大指尖压力为210 mN。可拉伸应变传感器在200%应变下表现出良好的稳定性和可逆性，将传感器贴在手指关节上具有监测手指运动的功能。最后，将传感器贴于手套上作为可穿戴器件，通过单片机控制系统采集手套上传感器由于手指弯曲产生的信号，信号经蓝牙传输，实现对气动回路的有效控制，最终完成对仿生手的远程实时操控。研究结果可应用于远程交互、生命科学等领域。

关键词: 仿生手, 可拉伸传感器, 控制, 弯曲致动器

Abstract: Soft robotics, involving many fields such as signal detection, control, execution, and so on, has been a research focus in recent years. Based on elastic materials, a kind of bending actuator conforming to the regulation of human's finger movement, bionic hand of bending actuator and a stretchable capacitive sensor have been designed. There are 14 bending joints altogether being designed for each bionic hand, and every joint is independently controlled by external air-tube. When external pressure reaches 50 kPa, finger joints can achieve 90 degree's bending deformation, and at the meantime the pressure of fingertip is 210 mN. The stretchable capacitive sensor shows good performance of stability and reversibility at 200% strain, and pasting it on finger joints the function of finger movement can be detected. Finally, the sensor on a glove as wearable device, the signal of the sensor produced by fingers bend through single-chip microcomputer control system can be collected. Transferred by bluetooth, the signal gains an effective control of pneumatic circuit. Ultimately, the remote real-time control of bionic hand is achieved. It can be applied in remote interaction and life sciences etc.

Key words: bending actuator, bionic hand, control, stretchable sensor

中图分类号:

罗召俊, 王帅, 程广贵, 袁宁一, 丁建宁. 基于弹性体材料仿生手的设计、制造及其控制[J]. 机械工程学报, 2019, 55(11): 69-75.

LUO Zhaojun, WANG Shuai, CHENG Guanggui, YUAN Ningyi, DING Jianning. Designing, Manufacturing and Controlling of the Elastic Materials Based Bionic Hand[J]. Journal of Mechanical Engineering, 2019, 55(11): 69-75.

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基于弹性体材料仿生手的设计、制造及其控制

Designing, Manufacturing and Controlling of the Elastic Materials Based Bionic Hand

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