Design and Kinematic Characteristics of Rigid-flexible Coupling Bionic Finger

doi:10.3901/JME.2019.11.105

Abstract

Abstract: The bionic hand can achieve various complex movements, which is widely used in the field of industry and medical treatment. While the existing rigid bionic hand has limitations of heave weight and poor flexibility, the soft hand with low control accuracy is difficult to achieve powerful griping. Therefore, based on the structure of human hand, this study develops a rigid-flexible coupling bionic finger. While the rigid bones are fabricated by 3D printing technology, the intrinsic muscles and extrinsic muscles respectively use the thin-McKibben pneumatic artificial muscles of diameters 1.3 mm and 2 mm developed by Prof. Koichi Suzumori in Tokyo Institute of Technology. A kinematic model of bionic finger is established by using BP artificial neural network, and the coupling relationship between the joint motion and muscle is analyzed. The prediction accuracy of the model is evaluated by the experiments. Comparing with results of anatomy, it can be confirmed that the developed hand has great similar driving principle and kinematic characteristics with human hand.

Key words: bionic finger, BP artificial neural network, kinematic model, McKibben pneumatic artificial muscle

CLC Number:

TP241

YANG Yang, XIAO Xiaoxiao, NAN Zhuojiang, LIU Na, LI Xiaomao, PENG Yan. Design and Kinematic Characteristics of Rigid-flexible Coupling Bionic Finger[J]. Journal of Mechanical Engineering, 2019, 55(11): 105-113.

References

[1] 张进华,王韬,洪军,等. 软体机械手研究综述[J]. 机械工程学报,2017,53(13):19-28. ZHANG Jinhua,WANG Tao,HONG Jun,et al. Review of soft-bodied manipulator[J]. Journal of Mechanical Engineering,2017,53(13):19-28.
[2] BUTTERFASS J,HIRZINGER G,KNOCH S,et al. DLR's multisensory articulated hand. I. Hard-and software architecture[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 20-20,1998,Leuven. IEEE,1998:2081-2086.
[3] BUTTERFASS J,GREBENSTEIN M,LIU H,et al. DLR-hand Ⅱ:Next generation of a dexterous robot hand[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 21-26,2001,Seoul. IEEE,2001:109-114.
[4] KAWASAKI H,KOMATSU T. Mechanism design of anthropomorphic robot hand:Gifu hand I[J]. Journal of robotics and Mechatronics,1999,11(4):269-273.
[5] KAWASAKI H,KOMATSU T,UCHIYAMA K. Dexterous anthropomorphic robot hand with distributed tactile sensor:Gifu hand Ⅱ[J]. IEEE/ASME Transactions on Mechatronics,2002,7(3):269-303.
[6] MOURI T,KAWASAKI H,YOSHIKAWA K,et al. Anthropomorphic robot hand:Gifu hand Ⅲ[C]//Proceedings of the International Conference on Control,Automation and Systems,October 16-19,2002,Jeonbuk. 2002:1288-1293.
[7] MELCHIORRI C,VASSURA G. Mechanical and control features of the university of bologna handversion2[C]//Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems,July 7-10,1992,Raleigh. IEEE,1992:187-193.
[8] LOTTI F,TIEZZI P,VASSURA G,et al. Development of UB hand 3:Early results[C]//Proceedings of the IEEE International Conference on Robotics and Automation,Aril 18-22,2005,Barcelona. IEEE,2005:4488-4493.
[9] MELCHIORRI C,PALLI G,BERSELLI G,et al. Development of the UB hand IV:Overview of design solutions and enabling technologies[J]. IEEE Robotics Automation Magazine,2013,20(3):72-81.
[10] LOVCHIK C,DIFTLER M. The robonaut hand:A dexterous robot hand for space[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 10-15,1999,Detroit,Michigan. IEEE,1999:907-912.
[11] VANDE WEGHE M,ROGERS M,WEISSERT M,et al. The ACT hand:Design of the skeletal structure[C]//Proceedings of the IEEE International Conference on Robotics and Automation,April 26-May 1,2004,New Orleans,Los Angeles. IEEE,2004:3375-3379.
[12] DESHPANDE A,XU Z,WEGHE M,et al. Mechanisms of the anatomically correct testbed hand[J]. IEEE/ASME Transactions on Mechatronics,2013,18(1):238-250.
[13] DEIMEL R,BROCK O. A compliant hand based on a novel pneumatic actuator[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 6-10,2013,Karlsruhe. IEEE,2013:2047-2053.
[14] NUCHKRUA T,LEEPHAKPREEDA T,MEKARPORN T. Development of robot hand with pneumatic artificial muscle for rehabilitation application[C]//Proceedings of the 7th IEEE International Conference on Nano/Molecular Medicine and Engineering,November 10-13,2013,Phuket. IEEE,2013:55-58.
[15] TSUJIUCHI N,KOIZUMI T,SHIRAI S,et al. Development of a low pressure driven pneumatic actuator and its application to a robot hand[C]//Proceedings of the 32nd Annual Conference on IEEE Industrial Electronics,November 6-10,2006,Paris. IEEE,2006:3040-3045.
[16] TAKEDA H,TSUJIUCHI N,KOIZUMI T,et al. Development of prosthetic arm with pneumatic prosthetic hand and tendon-driven wrist[C]//Proceedings of the IEEE Engineering in Medicine and Biology Society,September 3-6,2009,Minneapolis,Minnesota. IEEE,2009:5048-5051.
[17] LEE Y,SHIMOYAMA I. A skeletal framework artificial hand actuated by pneumatic artificial muscles[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 10-15,1999,Detroit,Michigan. IEEE,1999:926-931.
[18] ROTHLING F,HASCHKE R,STEIL J,et al. Platform portable anthropomorphic grasping with the bielefeld 20-DOFshadow and 9-DOFtum hand[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems,October 29-November 2,2007,San Diego. IEEE,2007:2951-2956.
[19] 南卓江,杨扬,铃森康一,等. 基于细径McKibben型气动人工肌肉的仿生手研发[J]. 机器人,2018,40(3):67-74. NAN Zhuojiang,YANG Yang,SUZUMORI K,et al. Development of a bionic hand actuated by thin McKibben pneumatic artificial muscle[J]. Robot,2018,40(3):67-74.
[20] HOLZBAUR K,MURRAY W,DELP S. A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control[J]. Annals of Biomedical Engineering,2005,33(6):829-840.
[21] SUEDA S. KAUFMAN A,PAI D. Musculotendon simulation for hand animation[J]. ACM Transactions on Graphics,2008,27(83):1-8.
[22] TSANG W,SINGH K,FIUME E. Helping hand:an anatomically accurate inverse dynamics solution for unconstrained hand motion[C]//Proceedings of the 2005 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,July 29-July 31,Los Angeles,California. ACM,2005:319-328.
[23] ALLOUCH S,YOUNS R,BOUDAOUD S,et al. Physiological and biomechanical approach for human finger movement:Modeling,simulation and experimental validation[J]. Journal of Mechanics in Medicine and Biology,2014,14(3):1450040.
[24] AN K,UEBA Y,CHAO E,et al. Tendon excursion and moment arm of index finger muscles[J]. Journal of Biomechanics,1983,16(6):419-425.
[25] PALASTANGA N,FIELD D,SOAMES R. Anatomy and human movement:Structure and function[M]. Elsevier Health Sciences,2006.
[26] LI Jiting,WANG Shuang,WANG Ju,et al. Development of a hand exoskeleton system for index finger rehabilitation[J]. Chinese Journal of Mechanical Engineering,2012,25(2):223-233.
[27] TONDU B. Modelling of the McKibben artificial muscle:A review[J]. Journal of Intelligent Material Systems and Structures,2012,23(3):225-253.
[28] SHAO Tiefeng,ZHANG Libin,BAO Guanjun,et al. Basic characteristics of a new flexible pneumatic bending joint[J]. Chinese Journal of Mechanical Engineering,2014,27(6):1143-1149.
[29] KURUMAYA S,NABAE H,ENDO G,et al. Design of thin McKibben muscle and multifilament structure[J]. Sensors and Actuators A,2017,261:66-74.
[30] 牛江川,韩利涛,李素娟,等. 基于PSO-BP神经网络的盾构刀具配置研究[J]. 机械工程学报,2018,54(10):167-172. NIU Jiangchuan,HAN Litao,LI Sujuan,et al. Research on shield cutting tool configuration based on PSO-BP neural network[J]. Journal of Mechanical Engineering,2018,54(10):167-172.
[31] ALBRECHT I,HABER J,SEIDEL H P. Construction and animation of anatomically based human hand models[C]//Proceedings of the 2003 ACM SIGGRAPH/Eurographics Symposium on Computer Animation,July 26-27,2003,San Diego,California. Aire-la-Ville:Eurographics Association,2003:98-109.
[32] KNUTSON J S,KILGORE K L,MANSOUR J M,et al. Intrinsic and extrinsic contributions to the passive moment at the metacarpophalangeal joint[J]. Journal of Biomechanics,2000,33(12):1675-1681.
[33] O'SULLIVAN L W,GALLWEY T J. Upper-limb surface e lector-myography at maximum supination and pronation torques:The effect of elbow and forearm angle[J]. Journal of Electromyography and Kinesiology,2002,12(4):275-285.