仅用乐高组件，布里斯托大学团队造出拟人化机器手，实现12自由度抓取！

Core Insights - The article emphasizes the importance of developing humanoid robotic hands that closely mimic human anatomy and functionality to meet complex scenario demands in robotics [1] - It highlights the limitations of existing LEGO robotic hands and the urgent need for innovative designs that contribute to modern robotics research [1] Group 1: Trends in Robotic Hand Design - The development of robotic hands is following two main trends: simplifying design while retaining functionality and adopting soft robotics technology for flexibility and adaptability [2] - The PISAIIT SoftHand exemplifies a highly adaptable humanoid tendon-driven hand that simplifies control systems while enhancing stability and adaptability in grasping [4] Group 2: Educational SoftHand-A Prototype - The Educational SoftHand-A prototype was created using standard LEGO components, allowing students to understand robotic hand design principles through hands-on experience [5] - The design features a customized antagonistic tendon layout and utilizes clutch gears for flexible cooperative movement, improving finger motion synchronization and overall responsiveness [7] Group 3: Structural Design and Drive System - Educational SoftHand-A consists of four fingers, each with three rotational joints, providing a total of 12 degrees of freedom, enabling adaptive grasping based on external constraints [10] - The drive system includes two MINDSTORMS EV3 motors and a programmable controller, allowing users to adjust tendon tension for grasping and opening [11] Group 4: Performance Testing - The prototype underwent various tests to evaluate its response time and load capacity, with single-finger movements taking approximately 1 second for a full cycle [17] - The Educational SoftHand-A demonstrated a load capacity of 5-6 Newtons per finger, slightly lower than its 3D-printed counterparts [17] Group 5: Adaptive Grasping Capability - The prototype successfully grasped various household items weighing between 0.1-0.8 kilograms, showcasing its adaptive grasping capabilities [20] - The hand adjusted its grip based on the shape and depth of objects, reflecting the cooperative operation characteristics of the PISAIIT SoftHand [22] Group 6: Conclusion - Despite being constructed entirely from LEGO components, Educational SoftHand-A's performance in response speed, force transmission, and adaptive grasping is comparable to other SoftHand versions, making it a valuable platform for robotics education and research [22]