Robot Joint Structure Mimicking Human Finger Motion
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Solution Overview
Problem
Current robot designs fail to effectively mimic human finger motion and respond to external forces, lacking the necessary components and sensors to replicate the functionality of human fingers.
Innovation Solution
A joint structure for robots comprising a body part, a link structure with multiple links, a sensor unit, and actuators connected by wires, where the sensor unit measures tension to control the link structure's movement, mimicking human finger motion and grip functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robot is equipped with components corresponding to muscles, tendons, and fingers to mimic human motion, then the robot can replicate human finger motion, but the device complexity increases
Solution Approach 1:
The robotic finger is divided into multiple links (first link, second link, third link) connected by joints, with separate actuators for each degree of freedom. This segmentation allows independent control of each finger segment, enabling complex human-like finger motions while maintaining manageable system complexity through modular design.
Solution Approach 2:
The actuator unit is designed as a universal module that can be applied to multiple joints in the robotic finger. Each actuator unit includes an actuator, wire, and sensor that work together as a standardized assembly, allowing the same basic structure to control different finger joints (IP joint, DIP joint) with similar control mechanisms.
2Reliability
If sensor unit is added to measure tension in the wire, then the robot can respond to external forces, but the device complexity increases
Solution Approach 1:
A sensor unit is integrated into each actuator assembly to detect tension in the wire and provide feedback signals to the control unit. This feedback mechanism enables the robotic finger to sense external forces applied to it and adjust its position or grip force accordingly, improving reliability and natural interaction while the integration keeps the added complexity minimal.
Solution Approach 2:
The sensor unit is combined with the actuator and wire assembly into a single integrated module. Rather than being a separate component, the sensor is incorporated into the existing actuator structure, allowing force sensing functionality to be added without significantly increasing overall device complexity.
3Manufacturing precision
If multiple links and actuators are used to control finger motion, then the robot can achieve precise grip, but the manufacturing complexity increases
Solution Approach 1:
The robotic finger is divided into multiple links (first link, second link, third link) connected by joints, with separate actuators for each degree of freedom. This segmentation allows independent control of each finger segment, enabling complex human-like finger motions while maintaining manageable system complexity through modular design.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The joint structure efficiently mimics human finger motion and responds to external forces, allowing the robot to grip objects effectively by controlling tension in the wires, enhancing the robot's ability to interact with its environment.
Implementation Method 1
the sensor unit may measure tension applied to the first wire
Implementation Method 2
an actuator fixed to one side of the body part and connected to the other end of the first wire to move the other end of the first wire in a vertical direction
Implementation Method 3
The reaction force providing portion may include a spring member
Data Source
AI summary
Provided is a joint structure for a robot including: a body part; a link structure connected to an upper portion of the body part and including multiple links; a sensor unit provided on one end of the link structure; a first wire having one end connected to the sensor unit; and an actuator fixed to one side of the body part and connected to the other end of the first wire to move the other end of the first wire in a vertical direction, wherein the sensor unit measures tension applied to the first wire.