Abstract
This paper suggests a novel type of bio-inspired finger design in that the joints that compose the finger mimic the features of human finger joints. They have isomorphic structures but different movements, further, there is no friction between bones in the joint, and the joint has a compliance property in all the directions thanks to the elasticity of ligaments. In the proposed joints, a number of strings substitute the articular capsule and collateral ligaments based on the concept of a tensegrity structure. Ultimately, a compliant robotic finger based on the ligamentous structure of the human is proposed. In addition, adjusting the fixed positions of the strings without any structural change, the joint can have a rest position yielded from the elasticity of the strings, and thereby, the tendon is only needed to drive the finger. Especially, since the finger does not have any mechanical rotating parts such as bearings and bushes, it can freely operate even underwater. As the proposed finger design is a type of underactuated mechanism, it is able to realize active flexion, passive extension, and passive adduction and abduction.
Highlights
In the field of robotics the research on biomimetics has increasingly received attention
In order to confirm characteristics of the proposed finger design, two cases were tested: the one was to test the compliant property of the joint structure against distracting/compressive forces and valgus/varus stresses; the other was to check the movements of the finger including active flexion, passive extension, and passive adduction/abduction
This paper has presented the compliant finger design composed of two types of bio-inspired hinge joints
Summary
In the field of robotics the research on biomimetics has increasingly received attention. The ligamentous joint structure has several properties as follows: the joints have isomorphic structure even though having different movements; the joints have somewhat of compliance every direction except rotation direction; the joints have little friction between rigid bodies. These properties of ligamentous structure could not be attained from traditional mechanisms. For the sake of simplicity, let us call this joint Type II hinge joint Both types of joints have isomorphic structure, and their mechanisms are made up of two rigid bodies and six elastic strings— four main strings and a pair of substrings. Roll motion is restricted for the same reason with the Type I case
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