Kinematic modeling and grasp quality analysis and simulation of a supernumerary finger for disabled grasping assistant
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摘要: 提出一种用于助残抓取的外手指机器人。对外手指进行运动学分析，分别给出外手指弯曲单元和外手指整体在驱动空间、关节空间、操作空间之间的映射关系，以抓取系统的准静态分析为基础，列举5种用于评估抓取质量指标。利用Matlab平台的Syngrasp工具箱，建立人手穿戴外手指时的增强手抓取模型，分别进行手和增强手的抓取仿真，比较抓取质量指标。结果表明，穿戴外手指能够提高人手抓取物品时的抓取质量。Abstract: A supernumerary robotic finger for disabled people grasping was proposed. The kinematic analysis of the supernumerary finger was carried out, providing mapping relationships between the bending unit and the overall supernumerary finger across the driving space, joint space and operational space. On the basis of a quasi-static analysis of the grasp system, five indexes for measuring the grasp quality were listed. Using the Syngrasp toolbox based on Matlab platform, a grasp model of augmented hand which contained human hand wearing a supernumerary finger was established, grasp simulations of the natural hand and the augmented hand were performed, and the grasp quality indexes were compared. The result demonstrates that wearing the supernumerary finger can improve the quality of grasping objects with the human hand.
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图 4 弯曲单元关节转角与驱动绳绳长变化量关系
Figure 4. Mapping relationship between joint angle and length variation of driving rope of bending unit
图 6 外手指指尖的理论轨迹与仿真轨迹对比
Figure 6. Comparison of theoretical and simulated trajectories of supernumerary finger tips
图 8 Paradigmatic手和增强手抓取物体时各抓取质量指标的对比
Figure 8. Comparison of grasp quality indexes of Paradigmatic hand and augmented hand grasping objects respectively
表 1 弯曲单元参数取值
Table 1. Geometric parameters of bending unit
单位：mm 指节长度a 驱动绳定位b 指节厚度c 关节长度s 10 10 12 13 
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