论文标题
软机器人手，具有手指弯曲/减少摩擦的开关机制，通过1度流量控制
Soft robotic hand with finger-bending/friction-reduction switching mechanism through 1-degree-of-freedom flow control
论文作者
论文摘要
本文提出了一种新型的气动软机器人手，该手结合了一种可以使用单个气流控制的机制，该机构可以切换气流路径。开发的手可以控制手指运动并操作表面摩擦变量机制。在摩擦变量机制中，将润滑剂注入高摩丁表面以减少表面摩擦。为了使用正压气流注入润滑，应用了文丘里效应。描述了气流路径开关和摩擦变量机制的设计和评估。此外，提出了配备这些机制的软机器人手的整个设计。通过抓握，放置和操纵测试来验证性能。
This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction variable mechanism. In the friction variable mechanism, a lubricant is injected onto the high-friction finger surface to reduce surface friction. To inject the lubrication using a positive-pressure airflow, the Venturi effect is applied. The design and evaluation of the airflow-path switching and friction variable mechanisms are described. Moreover, the entire design of a soft robotic hand equipped with these mechanisms is presented. The performance was validated through grasping, placing, and manipulation tests.
