A Self-sensing TSA-actuated Anthropomorphic Robot Hand  

作　　者：Chanchan Xu Shuai Dong Yifan Ma Jingwei Zhan Yucheng Wang Xiaojie Wang 

机构地区：[1]Institute of Intelligent Machines,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei,230031,China [2]CAS Key Laboratory of Mechanical Behavior and Design of Materials,Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei,230026,China [3]Institutes of Physical Science and Information Technology,Anhui University,Hefei,230601,China

出　　处：《Journal of Bionic Engineering》2024年第3期1174-1190,共17页仿生工程学报（英文版）

基　　金：supported by the Anhui Provincial Key Research and Development Program No.2022f04020008;National Natural Science Foundation of China No.62301522;Anhui Provincial Nature Science Foundation No.1908085MF196.

摘　　要：This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over distances.However,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control challenging.To address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external sensors.The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed forearm.Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand.Additionally,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities.This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.

关 键 词：Anthropomorphic robot hand Twisted string actuator SELF-SENSING Conductive polymer composite Virtual reality monitoring 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]