汇报时间：2023年9月7日(星期四) 下午15: 00

汇报地点：创新港 2号巨构 2-3161会议室

汇报人：张超宙

国际会议信息

会议名称：The 32nd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN 2023)

会议时间：August 28-31, 2023

会议地点：Paradise Hotel, Busan, Korea

会议简介：RO-MAN is a leading forum where state-of-the-art innovative results, the latest developments as well as future perspectives relating to robot and human interactive communication are presented and discussed. The theme of the IEEE RO-MAN 2023 is “Design a New Bridge for H-R-I”, with [H] for Human Health, Happiness and Hope, [R] for Robotic Recovery and Reconnection, and [I] for Intelligent Interface and Interaction. The conference covers a wide range of topics related to Robot and Human Interactive Communication, involving theories, methodologies, technologies, empirical and experimental studies. The topics of the conference papers consists of robotic technology, psychology, cognitive science, artificial intelligence, human factors, ethics and policies, interaction-based robot design and other topics related to human-robot interaction.

参会论文信息

Title: An Anthropomorphic Robotic Hand with a Soft-Rigid Hybrid Structure and Positive-Negative Pneumatic Actuation

Author: Chaozhou Zhang, Min Li, Yushen Chen, Zhanshuo Yang, Bo He, Xiaoling Li, Jun Xie, and Guanghua Xu

Abstract: Anthropomorphic robotic hands are seeking to achieve key features such as multi-degree-of-freedom motion ability, bi-directional actuation, high adaptability, and sufficient stiffness. In this research, we propose a 10 active degrees-of-freedom anthropomorphic robotic hand with a soft-rigid hybrid structure and positive-negative pneumatic actuation. The fingers of the hand utilize pneumatic actuators composed of soft bellows to actuate a rigid skeleton for bending motion with unidirectional-stretchable nylon elastic fabric as a strain limiting layer. The positive-negative pneumatic actuation mimics the flexors and extensors of the human hand to implement bi-directional finger actuation. We present a prototype implementation of this robotic hand and provide a preliminary evaluation. The experimental results show that the combined positive-negative pneumatic actuation can extend the workspace of the finger and increase the finger stiffness compared to using only positive pneumatic actuation. The proposed robotic hand has good comprehensive performance (generated a blocking force of 7.5 N, scored 7 in the Kapandji test, achieved 32 of the 33 grasp postures from the Feix taxonomy, and could implement 5 human grasping strategies) compared to other robotic hands in literatures.

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