Joint design of robotic hands in tasks of haptic functional interaction with arbitrary objects of manipulation

With the help of robotic anthropomorphic hands capable of performing functional grips, it is possible to use hand tools and everyday objects for their intended purpose, which eliminates the need for specialized equipment. The choice of design parameters and working surfaces of tactile sensors is justified. A method of system design of such hand with tactile feedback is presented. First, a discrete space of design candidates is formed based on the characteristics of the drives and components. Then, planning and verification of trajectories for functional captures are performed; candidates are ranked according to a heuristic function reflecting capture efficiency metrics. Based on the results of modeling the best option, the dimensions of the working surfaces of the phalanges and the range of contact forces are determined; taxels are synthesized — elastic elements of the working surface of the tactile sensor. The parameters providing a compromise between the sensitivity of the taxiways and their number are investigated, and the relationship of the taxiway deformations with contact forces is estimated for each variant. Based on the results of a posteriori analysis, taking into account the requirements for the range of measured forces and resistance to incomplete data, the geometric parameters of the sensor are selected. The method is tested by designing and testing a prototype of an anthropomorphic robotic hand.

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