像人类一样灵活抓取 机器人咋做到的？

Core Insights - A research team from Peking University has developed the world's first robotic hand system, F-TAC Hand, which integrates high-resolution tactile perception and complete motion capabilities, enabling adaptive grasping similar to human hands [1][2]. Group 1: Tactile Feedback and Motion Integration - The human hand's functionality is complex, consisting of 27 bones and 34 muscles, providing 24 degrees of freedom, which poses a challenge for robotic systems to replicate [2][3]. - Tactile feedback involves both proprioception and skin sensation, allowing the brain to receive reports on physical properties like force, temperature, and friction, while motion functionality refers to the coordinated actions of the nervous and muscular systems [2][3]. Group 2: Technical Challenges and Solutions - Integrating tactile sensors without compromising the robot's flexibility has been a significant challenge, as current technologies struggle with coverage, resolution, and durability [3]. - The F-TAC Hand achieves high-resolution tactile coverage over 70% of its palm surface, with a spatial resolution of 0.1 mm, equating to approximately 10,000 tactile pixels per square centimeter, surpassing existing commercial robotic hands [3][4]. Group 3: Design and Stability - The F-TAC Hand features a design that mimics the human hand's tactile system, utilizing 17 high-resolution sensors in six configurations, ensuring both perception and structural integrity [4]. - A novel algorithm based on probabilistic models enables the robotic hand to perform 19 common grasp types, enhancing its adaptability in uncertain environments [4][5]. Group 4: Performance and Applications - Experimental results indicate that F-TAC Hand can switch to alternative strategies within approximately 100 milliseconds when encountering obstacles, achieving a success rate increase from 53.5% to 100% compared to systems without tactile feedback [5]. - The research has potential applications in fields requiring high precision, such as assisted surgery, precision assembly, aerospace, and emergency response [5][6].