ETH苏黎世新突破：复刻人体解剖结构的高度仿生气动肌肉机械手

Core Viewpoint - The article discusses the development of a highly advanced robotic arm by the ETH Zurich soft robotics lab, which utilizes 3D printing and pneumatic artificial muscles to closely mimic human anatomy and functionality. Group 1: Robotic Arm Design and Technology - The robotic arm features 22 independently controlled pneumatic artificial muscles (PAMs) that replace traditional motor drives, enhancing flexibility and safety in human-robot collaboration [1][2] - The arm's design is based on human anatomical structures, utilizing MRI scan data to accurately model bone shapes and muscle attachment points, resulting in a highly realistic mechanical hand [1][7] - The entire arm is produced using Vision Controlled Jetting technology, allowing for a single-step printing process without complex assembly [1] Group 2: Performance of Artificial Muscles - The pneumatic artificial muscles developed have a maximum strain rate of 30.1% and can output a force of 38.05 N at 0.5 MPa pressure, nearing the performance of advanced McKibben-type artificial muscles [2] - The material cost for the artificial muscles is only $3.45 per meter, significantly lower than commercial products, and the manufacturing process is simplified [4] - In practical tests, the fingertip force reached 1.95±0.15 N, and the grip strength was 2.97±0.25 N, sufficient for most daily tasks despite being lower than the average human grip strength of 24 N [4] Group 3: Anatomical Accuracy and Dexterity - The design replicates the muscle configuration of the human forearm, focusing on the external muscle groups that control finger movements, including the wrist and thumb joints [8][9] - The mechanical hand scored 6 out of 10 in the Kapandji test, demonstrating good thumb opposition capabilities comparable to high-end robotic hands [11] Group 4: Tactile Sensing and Future Applications - The robotic hand integrates pneumatic tactile sensors that allow for adaptive gripping based on the shape of objects, enhancing its functionality [12][14] - The system successfully demonstrated various gripping modes, from small objects like coins to larger items like a 272-gram spray can [16] - Future improvements are planned to enhance grip strength, upgrade tactile sensors, and explore wireless compressed air sources for practical applications [16][17]