IROS2025具有多种抓取模式与磁触觉感知能力的仿生机械手

Core Concept - The article presents a novel multi-modal bionic robotic hand that combines magnetic silicone skin with a rigid skeleton, integrating a vacuum suction cup at the fingertips to achieve three gripping modes: wrapping, parallel, and adsorption [2]. Group 1: Design and Mechanism - The bionic fingers utilize a rigid skeletal structure wrapped in soft muscle tissue, providing excellent cushioning and shock absorption for grasping flexible objects [2]. - The internal Hall sensor units detect the deformation of the magnetic silicone film, allowing real-time monitoring of the gripping information [4]. - The silicone film, mixed with magnetic powder, transforms non-magnetic particles into magnetic ones upon unidirectional magnetization, creating a regular magnetic field that changes with deformation during contact with external objects [5]. Group 2: Gripping Phases and Data Collection - The gripping process is divided into four stages: approaching the object, squeezing the object, lifting the object, and releasing the object, with distinct data trends observed in the first two stages [7]. - The first stage shows a lower rate of change in magnetic data compared to the second stage, indicating different interactions during the approach and squeeze phases [7]. - A control system collects magnetic field data every 0.25 seconds to establish a relationship between the change in magnetic field (∆B) and the diameter of the object being grasped [9]. Group 3: Experimental Setup - An experimental platform was established using an RM65 robotic arm and a D455 depth camera to test the robotic hand's grasping capabilities in real-world scenarios, enabling autonomous grasping operations [10].