If you want to survive the end of the robot world, then close the door! Although robots perform well in accuracy, speed, and consistency, they still perform poorly in basic tasks such as operating door handles. Part of the problem is that they must travel through a world built for humans and designed for human hands. These hands are the most complex structures in nature.
However, researchers at the University of Pisa and the Italian Institute of Technology have developed an extremely simple but amazingly functional robot hand called SoftHand 2, which uses only two motors. Support work. In contrast, although Shadow Dexterous Hand is more powerful, it requires 20 motors. SoftHand also promised that it will help robots occupy the market at low prices.
Like other robotic hands, SoftHand uses "tendons" (that is, cables) to pull fingers, but its arrangement is completely different. Instead of connecting a bunch of cables to each finger, SoftHand only uses one cable that goes through each finger pulley. Although the new design will reduce the flexibility of the manipulator, it also reduces the cost and power consumption. This is not much, after all, there is no technology that can make a manipulator suitable for all robots. More complex robotic hands will undoubtedly have a place in some use cases, such as SoftHand.
In order to create this dexterous and simple robot hand, the researchers initially only built the simpler SoftHand, which has only one motor. Cosimo Della Santina, a robotics expert who helped develop the system, said: “The idea is that when you start the motor, the length of the tendon will contract, so you will force the hand. closure."
Due to the elasticity of the joints, the tendons and fingers will become flat palms when unfolded again. If you want to hold a ball, it works well. But since the fingers move more or less in unison, fine manipulation is impossible. By adding a motor, SoftHand 2 significantly improves dexterity. Take a look at the picture below. Each end of the tendon (still winding through all the fingers) is connected to one of the two motors of the wrist. If you move the motor in the same direction, the tendon will contract, and you will see the top row of gestures-A, B, C, and D. The same action is also suitable for the original SoftHand.
But if the motor runs in the opposite direction, more complicated things will appear, such as the scenes in E, F, G, and H. In this case, one motor releases the tendon, while the other rotates the tendon. Della Sandina said: "If your tendon moves in many pulleys, the tension of the tendon is not constant."
If a motor is pulling, the tension at the end of the tendon will be higher. If the other motor is putting the tendon, the tension on that end will decrease. By using tension in this way, SoftHand requires fewer cables than ordinary manipulators, but still allows all fingers to swing.
Take a look at the picture below and you will see the difference made by an additional motor. There is one motor on the left and two on the right. The former brute force forces it to press all fingers on the ball. However, due to the difference in tendon tension, the latter can hold the ball more calmly.
Although SoftHand only uses two motors to work, it can perform a series of impressive actions. It can stretch its index finger to open the toolbox, or slide a piece of paper off the table. It can even unscrew a jar. All these designs mean it is relatively cheap, because more motors mean higher costs.
Lerrel Pinto, a robotics expert at Carnegie Mellon University who studies robot operations, said: "For robots to learn and do cool things, we need cheap, reliable and complex systems. I think they His hand has reached this balance, but the real test is whether other researchers have found its use. Can it be used for autonomous learning? Is it reliable? It can complete thousands of crawls? These questions are still unanswered. ."
So SoftHand is very promising, but more complex robot manipulators (such as Shadow Dexterous Hand) still have a lot to improve. SoftHand may be helpful for already fixed behaviors, such as unscrewing a jar, while Shadow Dexterous Hand and its many actuators may be suitable for more complex tasks.
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