Teleoperation in soft robotics can endow soft robots with the ability to perform complex tasks through human-robot interaction. In this study, we propose a teleoperated anthropomorphic soft robot hand with variable degrees of freedom (DOFs) and a metamorphic palm. The soft robot hand consists of four pneumatic-actuated fingers, which can be heated to tune stiffness. A metamorphic mechanism was actuated to morph the hand palm by servo motors. The human fingers' DOF, gesture, and muscle stiffness were collected and mapped to the soft robotic hand through the sensory feedback from surface electromyography devices on the jib. The results show that the proposed soft robot hand can generate a variety of anthropomorphic configurations and can be remotely controlled to perform complex tasks such as primitively operating the cell phone and placing the building blocks. We also show that the soft hand can grasp a target through the slit by varying the DOFs and stiffness in a trail.

中文翻译：

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具有变形手掌和可调刚度软手指的拟人机器人手的远程操作。


软机器人中的远程操作可以赋予软机器人通过人机交互执行复杂任务的能力。在这项研究中，我们提出了一种具有可变自由度（DOF）和变形手掌的遥控拟人软机器人手。软机器人手由四个气动手指组成，可以通过加热来调节刚度。通过伺服电机驱动变形机构使手掌变形。收集人类手指的自由度、手势和肌肉刚度，并通过臂上表面肌电图设备的感觉反馈将其映射到软机器人手。结果表明，所提出的软机器人手可以生成各种拟人化配置，并且可以远程控制以执行复杂的任务，例如原始操作手机和放置积木。我们还表明，通过改变轨迹中的自由度和刚度，软手可以通过狭缝抓住目标。