本研究探討了基於模組化軟性致動器與硬式外骨骼的擬人機械手掌設計，並結合力量感測技術，以應對現有技術中的挑戰，如軟性致動器缺乏手指指尖位置的精確控制、在側向受力下的穩定性不足以及力量感測技術的限制。為了達到手指運動的精確控制而提出了模組化軟性致動器的設計，其由PneuNets致動器技術延伸而來，允許對各個模組進行獨立壓力控制，進而提升其靈活性與精確控制。為了應對抓取物體時的側向受力，結合了硬式外骨骼結構，增強了手掌的抓取能力及承載力，適應複雜的抓取任務需求。此外，本研究還整合了慣性感測元件 (Inertial measurement unit, IMU)感測器矩陣，不僅能夠精確感測手指的位置信息與姿態，更能在不依賴傳統力量感測器的情況下，計算出指尖施加的力與方向，從而提供更精細的操作控制，進一步提升了機械手的實際操作精度。為了確保抓取穩定性，研究中還應用了MediaPipe技術及虛擬輪廓計算手指的施力分配與角度，並比較了使用前後的差異。最後，結合手部動作分析與解剖學研究，擬人手掌在手指、掌指關節與大拇指等部位的設計和運動範圍進行了分析，展示了其靈活性與抓取能力。研究成果為未來的機器人應用，特別是在精確位置控制與力量感測技術方面，提供了重要的技術支持與發展潛力。

This study explores the architecture of an anthropomorphic robotic hand based on modular soft actuators and rigid exoskeletons, integrated with force sensing technology to address existing technical challenges. The modular soft actuators, derived from PneuNets technology, allow for independent pressure control, enhancing flexibility and stability. The rigid exoskeleton improves the hand’s gripping capacity and load-bearing capability for complex tasks. Additionally, an Inertial measurement unit (IMU) sensor array was integrated to not only accurately sense finger position and posture but also calculate fingertip force and direction without traditional force sensors, offering refined control and improved operational precision. To ensure stability, MediaPipe technology and virtual contours were applied to calculate finger grasping stability, demonstrating superior performance in precise object grasping. Lastly, by combining hand motion analysis and anatomical studies, the design and movement range of the anthropomorphic hand’s fingers, joints, and thumb were modeled in detail, showing flexibility and gripping ability in various experimental scenarios. The findings provide significant technical support for future robotic applications, particularly in precise grasping and force sensing.

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