华中科技大学学报（自然科学版）2024，Vol.52Issue(5)：144-149,6.DOI:10.13245/j.hust.240404
面向精细抓取的刚软耦合仿人手作用力优化
Contact force optimization for precision grasping of rigid-soft coupled anthropomorphic hand
摘要
Abstract
Aiming at the compliant contacts characteristics of the rigid-soft coupled anthropomorphic hand in precision grasping modes,to make it have the ability of applying grasping force of anthropomorphic hand,the grasping force equilibrium equation and constrained optimization function were first established,and then a finger minimum force optimization method was proposed based on an external penalty function.The anthropomorphic hand could successfully achieve stable grasping of different objects by applying suitable forces,effectively preventing significant deformation or grasping failures during the grasping process.Experimental results show that the measured average values of individual finger forces exhibit absolute errors mostly within the range of 0 to 0.14 N,with relative errors falling between 0 to 18.57%.The proposed approach fulfils the demands of the rigid-soft coupled anthropomorphic hand,enabling stable and reliable grasping of various objects in precision grasping modes.关键词
仿人手/刚软耦合/精细抓取/柔顺接触/手指作用力优化Key words
anthropomorphic hand/rigid-soft coupling/precision grasping/compliant contact/finger contact force optimization分类
信息技术与安全科学引用本文复制引用
李泳耀,江磊,杜宇,丛明..面向精细抓取的刚软耦合仿人手作用力优化[J].华中科技大学学报（自然科学版）,2024,52(5):144-149,6.基金项目
中国博士后科学基金资助项目(2023M733284) （2023M733284）
国家自然科学基金资助项目(52205035). （52205035）
