具有力／位感知的仿人假手拇指机构  

Thumb mechanism of humanoid prosthetic hand with torque/position perception

作　　者：王伟[1] 姜力[1] 王新庆[1] 刘伊威[1] 刘宏[1,2] 

机构地区：[1]哈尔滨工业大学,机器人技术与系统国家重点实验室,哈尔滨150086 [2]德国宇航中心,机器人及机电一体化研究所,慕尼黑82230

出　　处：《哈尔滨工业大学学报》2010年第9期1403-1407,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金重点项目(50435040)

摘　　要：为使假手运动速度更快、更稳定,体积更小,基于耦合原理设计了假手的拇指机构;为使假手更加智能化,集成了力矩和位置感知装置,使之能够感知手指的绝对位置和指尖出力.该拇指由1个电机驱动,由3个关节组成,电机、减速箱和伞齿轮减速装置全部嵌入在手掌内部,近指节和中指节之间采用了平面四杆和空间四杆驱动方式,使手指的外观和运动轨迹更加拟人化.实验表明,手指抓取速度快且在运动的起点和终点没有震动,抓取过程更加仿人化,能够完成正向捏取、三指捏取、柱状抓取等人手大部分抓取功能,能够满足残疾人基本生活需要.To make the prosthetic hand move faster with less vibration and smaller than adult thumb, a prosthetic thumb has been designed on the basis of underacutuated mechanism. To make the hand more intelligentized, torque and position perception devices have been integrated. The thumb consists of three joints and is actuated by one motor. And the motor, gearhead and bevel device are all embedded in palm. Planar four-bar linkage and spatial four-bar linkage are adopted between metacarpal and proximal phalanx to make the appearance and track more humanoid. It is verified from experiment that the thumb has faster grasping speed without vibration at the beginning and end of grasping. It is more humanoid when grasping and can accomplish the prehension by subterminal opposition, tridigital grip, cylindrical palmar prehension, and can meet the basic life needs of the handicapped.

关 键 词：假手 拇指机构 力矩感知 位置感知 四杆机构 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]