基于细径McKibben型气动人工肌肉的仿生手研发

Development of a Bionic Hand Actuated by Thin McKibben Pneumatic Artificial Muscle

摘要: 以细径McKibben型气动人工肌肉作为执行器，研发了一种质量轻且具有良好柔顺性、灵巧性的仿生机械手.分别以直径为1.3mm和2mm的细径McKibben型人工肌肉模拟人手的内在肌和外在肌，以人手骨骼、关节、肌肉的生理构造为设计准则，设计并制作仿生手样机.该样机由35根人工肌肉驱动，与人手大小相仿，质量小于0.5 kg.通过实验，对该仿生手的运动性能、目标抓握能力和鲁棒性进行验证，该仿生手可以完成与人手相近的动作.

Abstract: A type of bionic hand with lightweight, superior compliance and dexterity is developed with the thin McKibben pneumatic artificial muscles as the actuators. The thin McKibben artificial muscles with the diameters of 1.3 mm and 2 mm are used as the intrinsic muscle and extrinsic muscle of the hand, respectively. The prototype is designed and manufactured according to the biologic structure of the human skeleton, joint and muscle. The prototype driven by 35 artificial muscles has a similar size of the human hand, and the mass is less than 0.5 kg. The motion performance, object grasping ability and robustness of the bionic hand are verified by experiments, and the bionic hand can accomplish the motions similar to the human hand.