{"id":241,"date":"2025-02-17T05:18:55","date_gmt":"2025-02-17T05:18:55","guid":{"rendered":"https:\/\/chinaservicerobots.com\/?p=241"},"modified":"2025-02-17T05:18:55","modified_gmt":"2025-02-17T05:18:55","slug":"quantitative-analysis-and-optimal-design-of-grasp-augmentation-of-supernumerary-robotic-finger-based-on-pose-solving","status":"publish","type":"post","link":"https:\/\/chinaservicerobots.com\/zh\/quantitative-analysis-and-optimal-design-of-grasp-augmentation-of-supernumerary-robotic-finger-based-on-pose-solving\/","title":{"rendered":"Quantitative Analysis and Optimal Design of Grasp Augmentation of Supernumerary Robotic Finger Based on Pose Solving"},"content":{"rendered":"<div id=\"articleEnQuot\" class=\"loaded\">\n<div class=\"article-header\">\n<div class=\"quot visible-lg quot-en\">\n<table class=\"article-tab\">\n<tbody>\n<tr>\n<td valign=\"top\" width=\"70\"><span class=\"\"><b>Citation:<\/b><\/span><\/td>\n<td><span id=\"infoEn\" class=\"info\">LIU Yuan, YAN Zhe, GE Ruipeng, CHENG Qian, MING Dong. Quantitative Analysis and Optimal Design of Grasp Augmentation of Supernumerary Robotic Finger Based on Pose Solving[J].\u00a0<i>ROBOT<\/i>, 2025, 47(1): 32-43.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.240080\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.240080<\/a><\/span><\/p>\n<div class=\"modal-footer\"><span class=\"copy-citation\" title=\"copy to clipboard\"><img decoding=\"async\" class=\"shu\" src=\"https:\/\/robot.sia.cn\/style\/images\/public\/shu.png\" alt=\"shu\" \/><\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/div>\n<\/div>\n<div class=\"article-left\">\n<div id=\"articleEnMeta\" class=\"articleEn loaded\">\n<div class=\"article-title\">\n<h1><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium\" src=\"https:\/\/robot.sia.cn\/fileJQR\/journal\/article\/jqr\/2025\/1\/33b20d1e-20c8-4f83-a7ab-f77d3ee532bc.jpg\" width=\"472\" height=\"354\" \/><\/h1>\n<h1>Quantitative Analysis and Optimal Design of Grasp Augmentation of Supernumerary Robotic Finger Based on Pose Solving<\/h1>\n<\/div>\n<ul class=\"article-author clear\">\n<li><a class=\"mainColor \" data-relate=\"\">LIU Yuan<\/a><sup class=\"authorTag\"><span class=\"com-num mainColor\" data-tagval=\"aff1, aff2, aff3\">1, 2, 3<\/span><\/sup>,<\/li>\n<li><a class=\"mainColor \" data-relate=\"\">YAN Zhe<\/a><sup class=\"authorTag\"><span class=\"com-num mainColor\" data-tagval=\"aff1\">1<\/span><\/sup>,<\/li>\n<li><a class=\"mainColor \" data-relate=\"\">GE Ruipeng<\/a><sup class=\"authorTag\"><span class=\"com-num mainColor\" data-tagval=\"aff1\">1<\/span><\/sup>,<\/li>\n<li><a class=\"mainColor \" data-relate=\"\">CHENG Qian<\/a><sup class=\"authorTag\"><span class=\"com-num mainColor\" data-tagval=\"aff1\">1<\/span><\/sup>,<\/li>\n<li><a class=\"mainColor \" data-relate=\"richardming@tju.edu.cn\">MING Dong<\/a><sup class=\"authorTag\"><span class=\"com-num mainColor\" data-tagval=\"aff1, aff2, aff3\">1, 2, 3<\/span>,\u00a0,\u00a0<\/sup><\/li>\n<\/ul>\n<ul class=\"about-author addresswrap\">\n<li class=\"article-author-address\" data-afftagid=\"aff1\"><span class=\"\">1.<\/span>Academy of Medical Engineering and Translational Medicine, Tianjin University, Tianjin 300072, China<\/li>\n<li class=\"article-author-address\" data-afftagid=\"aff2\"><span class=\"\">2.<\/span>Haihe Laboratory of Brain-computer Interaction and Human-machine Integration, Tianjin 300392, China<\/li>\n<li class=\"article-author-address\" data-afftagid=\"aff3\"><span class=\"\">3.<\/span>State Key Laboratory of Advanced Medical Materials and Devices, Tianjin 300072, China<\/li>\n<\/ul>\n<p><a class=\"togglebtn mainColor\"><i class=\"articleFont icon-jia\"><\/i>More Information<\/a><\/div>\n<\/div>\n<ul class=\"article-tab-box tab-content article-box-content\">\n<li style=\"list-style-type: none;\">\n<ul class=\"article-tab-box tab-content article-box-content\">\n<li id=\"GraphicalAbstract\" class=\"articleListBox loaded\">\n<h3 id=\"Abstract-list\" class=\"navTitle visible-lg\">Abstract<\/h3>\n<div id=\"d73d7d6f-6d17-4512-914e-a95204ffde5d_abs_div_0\" class=\"article-abstract \">Supernumerary robotic finger (SRF) is a wearable robot that achieves motion enhancement by augmenting additional limbs for the human body, however the grasp augmentation effect is limited. To address this problem, a maximum graspable sphere solution method based on SRF and hand pose is investigated to enhance the grasping ability, and the SRF design is optimized by quantitative analysis. Firstly, the D-H (Denavit-Hartenberg) kinematic models of the human hand and SRF are constructed, the finger pose library of the human hand and SRF is obtained by the Monte Carlo method, and an analytical method to achieve stable semi-envelope grasping of the sphere is proposed based on this library. Then, the grasp augmentation ability of SRF is defined and quantified based on the radius of the maximum graspable sphere of SRF and human hand, and the rod lengths of SRF at 3 wearing positions are optimized based on this ability. Finally, the SRF prototypes are built based on the subject&#8217;s hand size and the rod lengths at 3 wearing positions before and after optimization, with which the grasping experiments are carried out on spheres with radius of 2~12 cm. The experimental results show that the grasping abilities at the 3 wearing positions are enhanced by 42.4%, 38.5% and 7.91% respectively after rod length optimization, which proves the correctness and effectiveness of the solution method.\u00a0<span id=\"icon_d73d7d6f-6d17-4512-914e-a95204ffde5d_abs_div_0\" class=\"translate-icon\" title=\"Translate this paragraph\"><\/span><\/div>\n<p><b>Keywords:<\/b><\/p>\n<ul class=\"article-keyword article-info-en\">\n<li><a class=\"underHigh mainColor\">supernumerary robotic finger<\/a>,<\/li>\n<li><a class=\"underHigh mainColor\">grasp augmentation<\/a>,<\/li>\n<li><a class=\"underHigh mainColor\">pose solving<\/a>,<\/li>\n<li><a class=\"underHigh mainColor\">optimal design<\/a>,<\/li>\n<li><a class=\"underHigh mainColor\">wearable robot<\/a><\/li>\n<\/ul>\n<\/li>\n<li id=\"FullText\" class=\"articleListBox FullText-all html-text\">\n<div class=\"appendix-html\"><\/div>\n<div class=\"acks-html\"><\/div>\n<\/li>\n<li id=\"References\" class=\"articleListBox loaded\">\n<h3 id=\"References-list\" class=\"navTitle\">References<\/h3>\n<div class=\"References-wrap\">\n<table class=\"reference-tab\">\n<tbody>\n<tr id=\"b1\" class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[1]<\/td>\n<td class=\"td2\">\n<div class=\"reference-cn\">\u8346\u6cd3\u73ae, \u6731\u5ef6\u6cb3, \u8d75\u601d\u607a, \u7b49. \u5916\u80a2\u4f53\u673a\u5668\u4eba\u7814\u7a76\u73b0\u72b6\u53ca\u53d1\u5c55\u8d8b\u52bf[J]. \u673a\u68b0\u5de5\u7a0b\u5b66\u62a5, 2020, 56(7): 1-9.\u00a0doi:\u00a0<a class=\"mainColor ref-doi \" href=\"https:\/\/dx.doi.org\/10.3901\/JME.2020.07.001\" target=\"_blank\" rel=\"noopener\">10.3901\/JME.2020.07.001<\/a><\/div>\n<p class=\"mar6\">\n<div class=\"reference-en\">JING H W, ZHU Y H, ZHAO S K, et al. 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ROBOT, 2024, 46(1): 68-80.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.230254\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.230254<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[4]<\/td>\n<td class=\"td2\">YU Xinyi, ZHAO Chongliang, CHEN Lei, ZHU Mingzhu, OU Linlin.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/doi\/10.13973\/j.cnki.robot.230031\" target=\"_blank\" rel=\"noopener\">Design and Implementation of the Five-fingered Robotic Hand Grasping System Based on Regional Pose Solving<\/a>[J]. ROBOT, 2023, 45(6): 698-709.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.230031\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.230031<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[5]<\/td>\n<td class=\"td2\">DING Yiwei, TU Lijuan, LIU Yixi, ZHANG Jicong, SHUAI Mei.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/doi\/10.13973\/j.cnki.robot.220256\" target=\"_blank\" rel=\"noopener\">Progress of Wearable Lower-limb Exoskeleton Rehabilitation Robots<\/a>[J]. ROBOT, 2022, 44(5): 522-532.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.220256\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.220256<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[6]<\/td>\n<td class=\"td2\">WEN Haiying, DAI Min, ZHANG Hui, ZHANG Zhisheng, YU Jiyong.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/doi\/10.13973\/j.cnki.robot.200357\" target=\"_blank\" rel=\"noopener\">Optimal Design of a Redundantly Actuated Parallel Robot withPassive Higher Kinematic Pair<\/a>[J]. ROBOT, 2021, 43(6): 694-705.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.200357\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.200357<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[7]<\/td>\n<td class=\"td2\">LIU Jinguo, GAO Yang, WANG Yuechao, MA Shugen, LUO Yifan.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/doi\/10.13973\/j.cnki.robot.2015.0254\" target=\"_blank\" rel=\"noopener\">Comments on &#8220;Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes&#8221;<\/a>[J]. ROBOT, 2015, 37(2): 254-256.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.13973\/j.cnki.robot.2015.0254\" target=\"_blank\" rel=\"noopener\">10.13973\/j.cnki.robot.2015.0254<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[8]<\/td>\n<td class=\"td2\">XU Xiang, HOU Liya, HUANG Xinyan, ZHANG Weiyi.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/doi\/10.3724\/SP.J.1218.2014.00147\" target=\"_blank\" rel=\"noopener\">Design and Research of a Wearable Robot for Upper Limbs Rehabilitation Based on Exoskeleton<\/a>[J]. ROBOT, 2014, 36(2): 147-155.\u00a0DOI:\u00a0<a class=\"mainColor\" href=\"https:\/\/dx.doi.org\/10.3724\/SP.J.1218.2014.00147\" target=\"_blank\" rel=\"noopener\">10.3724\/SP.J.1218.2014.00147<\/a><\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[9]<\/td>\n<td class=\"td2\">WANG Rong-jun, LIU Da, JIA Pei-fa.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/id\/573\" target=\"_blank\" rel=\"noopener\">Optimal Design for Kinematics Parameter of Medical Robot<\/a>[J]. ROBOT, 2007, 29(4): 368-373.<\/td>\n<\/tr>\n<tr class=\"document-box\">\n<td class=\"td1\" valign=\"top\">[10]<\/td>\n<td class=\"td2\">ZHANG Yongde, LIU Tingrong.\u00a0<a class=\"\" href=\"https:\/\/robot.sia.cn\/en\/article\/id\/1271\" target=\"_blank\" rel=\"noopener\">OPTIMAL DESIGN OF STRUCTURAL PARAMETERS OF MULTI-FINGERED ROBOT HAND<\/a>[J]. ROBOT, 1999, 21(3): 234-240.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/li>\n<li id=\"citedby-info\" class=\"article-box article-knowledge-map loaded\"><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<div><\/div>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Quantitative Analysis and Optimal Design of Grasp Augmentation of Supernumerary Robotic Finger Based on Pose Solving<br \/>\nSupernumerary robotic finger (SRF) is a wearable robot that achieves motion enhancement by augmenting additional limbs for the human body, however the grasp augmentation effect is limited. To address this problem, a maximum graspable sphere solution method based on SRF and hand pose is investigated to enhance the grasping ability<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"zakra_page_container_layout":"customizer","zakra_page_sidebar_layout":"customizer","zakra_remove_content_margin":false,"zakra_sidebar":"customizer","zakra_transparent_header":"customizer","zakra_logo":0,"zakra_main_header_style":"default","zakra_menu_item_color":"","zakra_menu_item_hover_color":"","zakra_menu_item_active_color":"","zakra_menu_active_style":"","zakra_page_header":true,"footnotes":""},"categories":[72],"tags":[163],"class_list":["post-241","post","type-post","status-publish","format-standard","hentry","category-robot-new","tag-quantitative-analysis-and-optimal-design-of-grasp-augmentation-of-supernumerary-robotic-finger-based-on-pose-solving"],"_links":{"self":[{"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/posts\/241","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/comments?post=241"}],"version-history":[{"count":0,"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/posts\/241\/revisions"}],"wp:attachment":[{"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/media?parent=241"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/categories?post=241"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/chinaservicerobots.com\/zh\/wp-json\/wp\/v2\/tags?post=241"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}