IROS 2025 具有多种抓取模式与磁触觉感知能力的仿生机械手

Core Viewpoint - The article discusses the development of a novel multi-modal bionic robotic hand that mimics human finger mechanics for improved object grasping capabilities [3][4]. Group 1: Design and Mechanism - The bionic hand integrates magnetic silicone skin with a rigid skeleton, featuring a vacuum suction cup at the fingertip, allowing for three grasping modes: wrapping, parallel, and adhesion [4]. - The internal Hall sensor unit detects the deformation of the magnetic silicone film, providing real-time feedback on the grasping process [6]. Group 2: Grasping Phases and Data Collection - The grasping process is divided into four stages: approaching the object, gripping the object, lifting the object, and releasing the object, with distinct data trends observed in the first two stages [8]. - A control system collects magnetic field data every 0.25 seconds to establish a relationship between magnetic field changes and object size during the grasping operation [10]. Group 3: Experimental Setup - An experimental platform was established using an RM65 robotic arm and a D455 depth camera to autonomously identify and grasp objects, demonstrating the robotic hand's adaptability in real-world scenarios [11].