双方向動作が可能な拮抗腱駆動型巧みなロボットハンドの設計と検証
Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation
人間型の5指17自由度ロボットハンドを拮抗腱配置で設計し、掌側と背側の両方で把持できる双方向動作を実現・検証した。
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著者: Chunghyeon Lee, Hyukjun Kwon, Sungeon Kim, Saehyun Moon, Seokhwan Jeong
分類: cs.RO
原文アブストラクト
Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side. Existing reversible hands generally rely on non-anthropomorphic, soft, or task-specific finger arrangements, whereas conventional five-digit anthropomorphic hands remain designed primarily for palmar-side grasping. This paper presents an anthropomorphic, human-scale (200 mm length), lightweight (220 g), 3D-printed, 17-DoF robotic hand built on a bidirectional antagonistic tendon-routing mechanism, in which flexion/extension (except the coupled joint) and abduction/adduction at joints are actively driven without passive return springs. The proposed routing mechanism allows all degrees of freedom to cross their neutral configuration and form grasp closures on either the palmar or dorsal side. Experimental evaluation demonstrates an average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm. The hand further achieves a Kapandji score of 8, successfully performs all 33 GRASP Taxonomy grasp types, and performs palmar- and dorsal-side grasping tasks, validating bidirectional operation in a compact, human-scale platform.