Design of a new hybrid drive intelligent artificial hand

ObjectiveAiming at the incompatibility between the structure and the control system of the underactuated and fully actuated manipulators, a hybrid drive artificial hand is designed, which has the characteristics of high system integration and flexible structure.MethodsAccording to the dexterity of human hands, the structures of index finger and thumb were optimized to have multi-joint independent drive and adaptive underdrive ability. The driving force of the finger was optimized through the conical screw drive shaft structure. The flat bag structure was used to realize the independent finger swing drive in a narrow space, and the sensor layout was optimized by the thermodynamic diagram mapping relation. Additionally, the multi-mode application of 5 kinds of sensors was studied.ResultsA hand-like prototype with 16 actuators is made, which has the ability of intelligent grasping and surface texture recognition, and the grasping ability is tested under different driving modes, which provides reference for the research of multi-mode control of manipulators.