机器人多指灵巧手的研究现状、趋势与挑战

doi:10.3901/JME.2021.15.001

机械工程学报 ›› 2021, Vol. 57 ›› Issue (15): 1-14.doi: 10.3901/JME.2021.15.001

• 机器人及机构学 • 下一篇

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机器人多指灵巧手的研究现状、趋势与挑战

蔡世波^1,2, 陶志成^1,2, 万伟伟³, 喻豪勇⁴, 鲍官军^1,2

1. 浙江工业大学机械工程学院杭州 310023;
2. 浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室杭州 310023;
3. 大阪大学基础工学研究科大阪 560-8531 日本;
4. 新加坡国立大学生物医学工程系新加坡 117575 新加坡

收稿日期:2020-10-28 修回日期:2021-02-04 出版日期:2021-08-05 发布日期:2021-11-03
通讯作者: 鲍官军(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为机器人多指灵巧手、仿生操作理论、软体机器人。E-mail:gjbao@zjut.edu.cn
作者简介:蔡世波,男,1981年出生,博士,副研究员,博士研究生导师。主要研究方向为机器人多指灵巧手、康复机器人。E-mail:ccc@zjut.edu.cn;陶志成,男,1995年出生,硕士研究生。主要研究方向为多指灵巧手设计、抓持与操作理论。E-mail:1059145862@qq.com;万伟伟,男,1985年出生,博士,副教授,博士研究生导师。主要研究方向为机器人操作理论与方法。E-mail:wan@sys.es.osaka-u.ac.jp;喻豪勇,男,1966年出生,博士,副教授,博士研究生导师。主要研究方向为医疗康复机器人、机器人臂手系统。E-mail:bieyhy@nus.edu.sg
基金资助:
国家自然科学基金（51775499）、国家重点研发计划（2020YFB130195）和浙江省属高校基本科研业务费（RF-C2019004）资助项目。

Multi-fingered Dexterous Hands: From Simplicity to Complexity and Simplifying Complex Applications

CAI Shibo^1,2, TAO Zhicheng^1,2, WAN Weiwei³, YU Haoyong⁴, BAO Guanjun^1,2

1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023;
2. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310023;
3. Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan;
4. Department of Biomedical Engineering, National University of Singapore, Singapore 117575 Singapore

Received:2020-10-28 Revised:2021-02-04 Online:2021-08-05 Published:2021-11-03

摘要/Abstract

摘要： 机器人多指灵巧手是一种高度灵活、复杂的末端执行器，因其能够模仿人手的各种灵巧抓持和复杂操作能力，半个多世纪以来得到持续的研发投入和广泛关注，备受社会各界期待。综述分析了仿人型机器人多指灵巧手的演化过程、研究与开发现状。从仿生结构、驱动、传动、感知、复合/智能材料、建模与控制等方面分析了机器人多指灵巧手的本体复杂性，在部分功能复现、灵巧操作功能复现和人手功能的增强三个层次上分析了机器人多指灵巧手的应用复杂性，进而论述了基于多指灵巧手的复杂应用简化实现模式，阐明了机器人多指灵巧手的复杂性与易用性的辩证关系。最后从深度仿生、柔性感知技术、操作过程规划与控制策略、成本控制四个方面分析了多指灵巧手本体研究的趋势与挑战。

关键词: 多指灵巧手, 仿生, 柔性感知, 操作规划, 建模与控制

Abstract: A multi-fingered dexterous hand is a highly flexible and complex end-effector for robots. Since it can imitate various dexterous grasping and complex manipulation abilities of human hand, multi-fingered dexterous hand has been continuously studied and developed for more than half a century and has attracted extensive attention and received wide expectation from the public. In this paper, the research and development of humanoid multi-fingered dexterous hands are reviewed and analyzed. The complexity of multi-fingered dexterous hand is analyzed from aspects of bionic structures, actuation systems, transmission, sensing, composite/smart materials, and modeling and control. The complexity of multi-fingered dexterous hand is discussed from an applicational viewpoint in three levels:Partial function repetition, agile manipulation imitation, and function enhancement of human ability. Simplified realization of the complex application based on multi-fingered dexterous hand is also discussed. The dialectical relationship between the complexity of multi-fingered dexterous hand and the simplicity of application is illustrated. Finally, the trend and challenges of the multi-fingered dexterous hand research are analyzed concerning bionics, flexible sensing technology, manipulation planning, control strategy, and reducing cost.

Key words: multi-fingered dexterous hands, bionics, flexible sensing, manipulation, modeling and control

中图分类号:

TP24

蔡世波, 陶志成, 万伟伟, 喻豪勇, 鲍官军. 机器人多指灵巧手的研究现状、趋势与挑战[J]. 机械工程学报, 2021, 57(15): 1-14.

CAI Shibo, TAO Zhicheng, WAN Weiwei, YU Haoyong, BAO Guanjun. Multi-fingered Dexterous Hands: From Simplicity to Complexity and Simplifying Complex Applications[J]. Journal of Mechanical Engineering, 2021, 57(15): 1-14.

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机器人多指灵巧手的研究现状、趋势与挑战

Multi-fingered Dexterous Hands: From Simplicity to Complexity and Simplifying Complex Applications

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