Journal of Bionic Engineering ›› 2024, Vol. 21 ›› Issue (3): 1174-1190.doi: 10.1007/s42235-024-00491-w
A Self-sensing TSA-actuated Anthropomorphic Robot Hand
Chanchan Xu1,2 · Shuai Dong2 · Yifan Ma2 · Jingwei Zhan3,1 · Yucheng Wang1 · Xiaojie Wang1
- 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
A Self-sensing TSA-actuated Anthropomorphic Robot Hand
Chanchan Xu1,2 · Shuai Dong2 · Yifan Ma2 · Jingwei Zhan3,1 · Yucheng Wang1 · Xiaojie Wang1
- 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
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.