NRI: Multi-Digit Coordination by Compliant Connections in an Anthropomorphic Hand

NRI：通过拟人手中的兼容连接进行多数字协调

• 批准号: 1427250
• 负责人: Joshua Schultz
• 金额: $ 44.36万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-08-01 至 2019-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1427250&HistoricalAwards=false
• 关键词: NRI; Multi; Digit; Coordination; Compliant

Robust, soft, lightweight, dexterous hands will be a crucial component of the next generation of robots that physically interact with human co-workers. To date, under-actuated robot hands (where one motor moves multiple joints) that grasp objects reliably have been created largely by designer ingenuity using "tricks of the trade" without fully capitalizing on the wealth of mathematical grasping and manipulation theory. Moreover, anatomical studies of the human hand and robotic hands that do useful work have largely evolved separately, leading to similar conclusions expressed in a different way. This collaborative effort between engineering and medical faculty will help bridge these gaps. Engineering graduate students and medical residents will interact regularly; this will serve to translate knowledge and experience across the boundaries of these two disciplines, thereby fostering the ability to solve complex, multi-faceted bioengineering problems. A key contribution of this project will be a theoretical description of an elastic drive train that maps individual actuator motions to key movements in tasks of daily living. The robotic hand produced as another outcome of this work will serve as a robust platform for future experimentation (for example, in studies on gesturing, communication for the hearing impaired, and tactile exploration), and it will also be useful for evaluating and visualizing the effect of potential surgical interventions ex vivo. An important educational and research tool in the PI's institution, this hand will be used to educate and interest university and K-12 students in robotics. The PI team will coordinate with student groups and Native American community organizations, to recruit qualified underrepresented minorities to participate in the project.Moving from single- to multi-actuator multi-fingered dexterous robot hand design is not straightforward and has frustrated researchers for several years; it will require a principled formal treatment. In single-actuator hands, adding a spring to the drive train improves the hand; the exact spring characteristics are not critical. In the general case of multi-actuator compliant hands simply adding a spring is not enough; a multidimensional spring of specific characteristic is needed. Concepts from multiport circuit theory, mechanics of materials, linear algebra and elements of general multi-fingered grasping theory will be used to understand the behavior of such a multi-dimensional spring. The PI's approach is to break this problem into sub-problems, greatly simplifying the analysis. There is also the matter of which actions an under-actuated hand should be able to perform; the PI argues that complete finger individuation is not necessary, rather coupled finger movements should correspond to those used by humans to perform tasks. Anatomical analysis of both normal humans and those that have undergone surgical intervention will be used to prioritize basic human motion primitives. Combined with the novel compliant grasping theory, under-actuated hand synthesis will be formulated as a parameter fitting problem. Detailed evaluation of the effects of surgical intervention on the human hand, the study of human anatomy, multi-port circuit models, and consideration of compliant mechanisms and the fundamental subspaces of linear algebra will all be blended. Taken together, this will result in a method to synthesize an elastic drive train that maps actuator contributions to useful, coordinated motions of the fingers. Implications of the compliant actuation theory will be examined in the mechanism synthesis and grasp stability contexts, and these will be evaluated experimentally. The investigators will pursue this line of reasoning all the way to implementation in a functioning anthropomorphic hand capable of performing the most common tasks of everyday life.

健壮，柔软，轻巧，灵巧的手将是下一代机器人与人类同事进行物理相互作用的关键组成部分。 迄今为止，使用“贸易的技巧”在很大程度上，在很大程度上通过“贸易技巧”而没有充分利用数学掌握和操纵理论的财富，就可以可靠地创建了掌握物体的机器人手（其中一个电动机移动多个关节）。 此外，从事有用工作的人手和机器人手的解剖学研究已经在很大程度上分开演变，从而以不同的方式表达了类似的结论。 工程和医学教师之间的合作努力将有助于弥合这些差距。 工程研究生和医学居民将定期互动；这将有助于在这两个学科的边界上翻译知识和经验，从而促进解决复杂，多方面的生物工程问题的能力。 该项目的关键贡献将是对弹性驱动列车的理论描述，该弹性驱动器将单个执行器动作映射到日常生活任务中的关键运动。 作为这项工作的另一个结果的机器人手将是未来实验的强大平台（例如，在手势的研究，听力障碍和触觉探索的研究中），这也将有助于评估和可视化潜在的外科手术干预措施的效果。 该手将是PI机构中重要的教育和研究工具，将用于教育和感兴趣的大学和K-12学生的机器人技术。 PI团队将与学生团体和美洲原住民社区组织进行协调，以招募合格的人数不足的少数群体参加该项目。它将需要原则上的正式治疗。 在单驱动器手中，在驱动火车上增加弹簧可以改善手。确切的春季特征并不关键。 在一般情况下，只要添加弹簧的手符合多动剂的手是不够的。需要特定特征的多维弹簧。 来自多端电路理论，材料力学，线性代数和一般多指握把理论元素的概念将用于了解这种多维弹簧的行为。 PI的方法是将这个问题分解为子问题，从而大大简化了分析。 还有一个问题，应采取哪些动作能够执行； PI认为没有必要完全的手指个性化，而是耦合的手指运动应与人类使用的任务相对应。 对正常人和接受手术干预的人的解剖学分析将用于优先考虑基本的人类运动原语。 结合新颖的掌握理论，将不足的手工合成将被表述为参数拟合问题。 详细评估手术干预对人手的影响，人体解剖学的研究，多端口电路模型以及对合规机理的考虑以及线性代数的基本子空间都将融合在一起。 综上所述，这将导致一种合成弹性驱动序列的方法，该弹性驱动器将执行器的贡献映射为有用的，配位的手指运动。 合规性驱动理论的含义将在机制合成和掌握稳定性环境中进行研究，这些将通过实验进行评估。 调查人员将在能够执行日常生活中最常见的任务的拟人化手中努力实施这种推理。