Development of a robotic finger with an active dual-mode twisting actuation and a miniature tendon tension sensor

摘要

A robot finger is developed with enhanced grasping force and speed using active dual-mode twisting actuation, which is a type of twisted string actuation. This actuation system has two twisting modes (Speed Mode and Force Mode) with different radii of the twisted string, and the twisting mode can be changed automatically. Therefore, the actuator operates like an automatic transmission having two transmission ratios, and the robot finger can generate a large grasping force or fast motion depending on the twisting mode. In addition, a miniature tendon tension sensor is developed and embedded in the fingertip for automatic mode change and grasping force control. A relation between the fingertip force and the tension of the tendon is derived by kinematic and kinetic analyses of the robot finger. The performance of the robotic finger and the tension sensor are verified by experimental results.