Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand  

作　　者：Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI 

机构地区：[1]CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems,Shenzhen Institutes of Advanced Technology(SIAT),Chinese Academy of Sciences(CAS),Shenzhen,518055,China [2]Shenzhen College of Advanced Technology,University of Chinese Academy of Sciences,Shenzhen,518055,China [3]SIAT Branch,Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,518055,China [4]Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems,Shenzhen,518055,China

出　　处：《Frontiers of Mechanical Engineering》2022年第3期75-89,共15页机械工程前沿（英文版）

基　　金：This work was supported in part by the Key-Area Research and Development Program of Guangdong Province,China(Grant No.2020B0909020004);the National Key R&D Program of China(Grant No.2020YFC2007900);the Shenzhen Science and Technology Program,China(Grant No.CJGJZD20200617103002006).

摘　　要：The loss of hand functions in upper limb amputees severely restricts their mobility in daily life.Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions.In a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big challenge.In this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic hand.An optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance.Using a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements.Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping experiments.The mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible.This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关 键 词：function-oriented tendon driven prosthetic hand OPTIMIZATION HUMANOID UNDERACTUATED 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]