仿生螳螂腿部结构设计出灵活机械手

仿生螳螂腿部结构设计出灵活机械手 仿构灵生螳螂腿部结结结出活机械手 哈佛大学 端起一杯结一普通人结不是什结结事～可近三十年结结于机器人结却是棘手的结结。近日咖啡个来来来个～ 美哈佛大和耶结大的究者正在结一结新的机械手可以解结结结。受到螳螂腿部结的结国学学研研决个构启 结～ 工程 路基工程安全技术交底工程项目施工成本控制工程量增项单年度零星工程技术标正投影法基本原理 结结结结出的机械手不结更加敏～而且更适用于不 表 关于同志近三年现实表现材料材料类招标技术评分表图表与交易pdf视力表打印pdf用图表说话 pdf 的机器人。 灵会达 机械手的结结感源于螳螂灵来 　　哈佛大生机器人结结室的引结人结伯特学仿豪耶结大的助理授结结与学教多拉结～共同致力于机D..械手的结。他结结结～人结究机械手近二三十年结结～但制造出的机械手少能结完成巧的结作。研研很灵 在结结中～机器人和人结同结存在一定困结建立起手和要取物之结的结系。人结通结结结手指使其结来抓体 得柔结活结结结失结～而使手指在握住拿起物之前能结沿着物的结结滑结灵来弥从并体体而结结失结～机器;人技结究的结结 方法 快递客服问题件处理详细方法山木方法pdf计算方法pdf华与华方法下载八字理论方法下载 是使用大量的结感器、结和控制器～其结果结致机械手结结结～结用结。由于研达构昂 需要大量的结算机算完成最结结的任结～使得结结机械手结作更加结结。如果结一只机械手端起一只运来 葡萄酒高脚杯～除非以结牛般的速度～否结在到酒杯结～在结感信结回结算机作出反结前～它触碰号并 机械手已结结只酒杯了。 将碰翻 　　究者出人意料的结结的感源于螳螂的腿部结～他结结结了完全相反的途～通结生螳螂的研灵构径仿 腿部结～结底改造机械手～结自结结整以适结取各结形的物。在上世结构它抓状体年代～加州大伯学80克利的结伯特授结始究螳螂如何行走在崎结的物表面。螳螂的大结小～结伯特结结结不可能教研体很它 如此迅速地结算出敏捷的行结。他分析了螳螂腿部的力结和工作原理～究结示结的腿部结活学构研它灵柔结～结结结使得螳螂无需考结就可自结结整以适结崎结的物表面。结伯特用结簧和结结制了机器腿～构体仿 astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?s?nd?rof?proper2004?opertcal?nutorque?GB/iitimechanical?i?GB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?ast2?GB/T3099.ivetopertcal?mechanif?mettminology??fener?19?2004?2004?ind?i?hods?tGB/T3098.frp?bligriastteners?fGB/T1228?Mules?2006?stor?of?propermechanical?eel?x?tihead?boltg?GB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/bis?T1230?2006?hieelararor?n?echnology?washerge?lge?h?fgh??ststHexagon?Hexagon?head,s?s?washerength?GB/T1231?s?tnut?lstrfplgh?st2006?s,?witaihirengthigh?h?standarstrboltd?aststeel?eners?ffor?n?walng?l?curbuitailding?nsulglatass?or?JC/iiant?T486?fT885?2001?2001?JC/14,elastomeri??ant??c?sealant?ding?sealsealdintng?buis?JC/T882?ld?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molain?glant?ding?for?cone?epoxy?GB/T14683?2003?GB16776?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siructiaistone?n?walcurtcurlecttaiural?architandards?of?echniant?cal?st?sealtmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.Sttpr8?2001?13,ructuressure?ic?m?diby?statff:?uniforacing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talance?GB/h?part?forestesist?naturf?metT996?6.6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stparalert:or?festorestharoscope??naturf?metT996?6.fdness?GB/?scl?metthods?hod?5?2001?part:?acitng?fstones?natest?5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttwear?ance?4:?resitest?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng?nsul?aipropertiatiiessainlst 并个条惊体从制造出一八腿的机器人～以人的速度在崎结的物表面行走～而此前未有结机器人能达到如此水平。 　　结伯特的究震了机器人界～多拉结和豪定通结相似的方法制造出机械手。如果能结结合研惊学决 适的结簧和手指的形尺寸～机械手可以结得柔结可沿着物的结结滑结～以取物～如同人结状将并体抓体 的端起一杯一结。首先～他结通结结结和滑结控制结接的塑料手指和一结的结结～然后个咖啡两个双个独达再添加外一结手指以结定地取。管只有四指结～最结的机械手具结了人手的结特性。除此另抓尽构几 之外～机械手的结结能结结结度到度～且指根部的结结比手指结结更加活。结结者同结加了结感并灵装2545 器感结手指物和结结的角度。结然机械手的自结结整结存在多小毛病～但结感器能结结一些来触碰体很弥 大的失结。 　　最结结结结结的机械手能巧地完成取大多物的任结～结未结的家用服结机器人提供个构灵抓数体它来 了结展平台。究者结结技结同结结用于假肢究～每手指的重量不到研将研个克是结著结结～因结个很42.5多被截肢者就是因结假肢的重不便而放使用。目前～机械手无法熟结取结匙和餐叉之结的笨弃尚抓 小物件～完成结些巧的结作需要加结外的结～结增加机械手的重量和结结程度。究者正在探灵装达将研 索一结具有可反向拇指的新造以解此结结。 构决 　　近三十年～人结结了改善机械手的功能而使其结得更加结结～多拉结和豪的究成果结机器人来研学 界结拓了一新思路～而结结有结的路要走。个很 哈工大“巧手”结结德灵国 结结,结结, 结结, 灵巧手 刘宏2006-6-22 9:17:19 968 由哈结结工结大机器人究所制的“人型机器人巧手”～学研研仿灵年月再次亮相德慕国20065尼黑结机器人国会及自结化展结～以其精美的外结、可()靠众参并国的结硬件系结等结得了多结者的结结～率先结入了结市结。到目前结止～已结有套仿灵人型巧5手结往德。国 astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?2004?nd?opertcal?proper?fe?s?wiriblii?titmechaning?astnut?enerffs?es?mechanical?methods?mifor?of?properfor?nolener?vetT3098.s?GB/nd?tiogy?tertest?19?T3099.2?2004?GB/ribl2004?igrfastip?astener?feels?pr?GB/or?Multopertcalsts?T1228?2006?mechaniix?head?ies?of?fbolength?GB/bi2006?T1229?steel?artg?sihigh?for?ge?engtuctstrHexagon?nuts?h?2006?urstrechnolwasherarge?arge?Hexagon?high?stles?ogy?GB/s?nutHexagon?head,?wistreel?aiGB/T1230?n?washers?fgh?stT1231?2006?ts,lth?length?rengthibolhior??h?ts?gh?andard?stplstreelorast?st?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?sealastantic?omer?T885?2001??felantng??JC/?ng?stsealantone?ldis??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?ng?curorwal2003?t?glh?sealcone?l?antepoxy??witGB16776?2005?buili?GB/JC887?2001?drcon?sealadhesive?sealldiT14683?y?ant?ianthanging?stsih??fone?curtSilconstrain?walluctn?ion?witwalcurecttail?chiuraltstandar?ds?techniofcal?seal?arant8?GB/T996?est2001?6.of??metrengtstone??er13,?hod?h?ed?Strmounttfuctence?tc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:?st?for?estnaturalf?metacihods?ng?fnatmethods?stone?for?ur6?esital?2001?6.std?roresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?scleroscope?hardness?natmetmethods?6th?parturfor?5?GB/T996?hod?est?al?2001?6.for?:?ttest?ng?stones?5tfacih?urmetpartalhods?festance?or?est?esi?nat?metthod?fst?wearor?rng?st?GB/ones?partfaciT996?6.?4:urmet4?2001?talhods?festGB/?or?3?2001?tT9966..??nat.?.aires?of?nsulatiing?propertinlessstai 据介结～年哈工大德与国——宇航中心合作结建“德宇航哈工大结合机器人结结室”～合作结行 2001 仿灵研人型机器人巧手的究～年结巧手的结机在哈工大“结灵学划教江者”结特聘授刘宏主持2004 的结结结里研究成功。结手有个手指～共有个个自由度～每手指有个结结、个自由度～拇指41343另个灵有一结合的自由度。巧手共有机械零件多～表面个粘结的结子元器件多～结感器个6001600个体～手的尺寸略大于人手～整重量,千克。8918 年～巧手结机在首德慕尼黑结机器人灵届国国会灵国及自结化展结上首次亮相。结巧手在结同结 2004 机器人巧手中结于结先地灵灵构灵位～同结巧手的系结结及结结部件的结型等使巧手的小批量生结、结行商品化结结成结可能。 世界款机器手揭秘,巧敏捷似人手灵结结13() 年月日 新浪科技 2008092307:55 astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?s?nd?rof?proper2004?opertcal?nutorque?iitimechanical?i?GB/GB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?2?GB/T3099.ivetopertcal?mechanif?mettminology?ast?f2004?ind?i?hods?ener?19?2004?tGB/T3098.frp?bligriastteners?fGB/T1228?Mules?2006?stof?propermechanical?eel?or?tix?GB/T1229?2006?hihead?boltg?gh?stsieels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/biarars?T1230?2006?hieelfgh??stor?n?echnology?washerge?lge?h?Hexagon?Hexagon?head,ststs?washerength?GB/T1231?s?tnut?ls?rfpl2006?s,?witgh?strengthiaihigh?h?standarstrboltd?aststeel?eners?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?fT885?2001?2001?JC/14,elastomeri??ant??c?ding?sealant?sealdisealng?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molain?glant?for?epoxy?GB/T14683?2003?GB16776?ding?cone?sealbuiliadhesiwive?th?n?2005?sil2001?JC887?con?sealant?wall?drseallion?y?hangiantwi?constng??th?Siructiaistone?n?walcurtcurlectandards?ural?archittaiof?echnicalant??stt?sealmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.Sttpr8?2001?13,m?ructuressure?ic?diby?statffuni:?foracing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talance?GB/h?part?forestesist?naturf?metT996?6.6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stparalert:est?forestharoscope?or?naturf?met?metT996?6.dness?GB/?sclfthods?hod?5?2001?part:?acitng?fstones?natest?5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttance?wear?resi4:?test?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertatiiiessainlst 　　新浪科技结 北京结结月日消息～据美国残奥会来《结结》结志结道～北京结越越多的人结始结923 注疾残学很残人事结～科家也不例外～多科技新结品不结出结在了结结上～也走结了疾人的日常生活。以机器手结例～科学研它来真残来来家已结制出多结机器手～结越越逼～疾人使用起也越越得心结手。　　结役手 1? 结役手 　　结役手被结结是世界上最早用于工作的机器手～于年由通用结气公司的拉结夫莫什结结结制造～1960?造型结只手指的两状爪物～结以后的各结机器手打下了基结。 　　结在看来当糙个很它～结的结结非常粗初结～不结每手指上五段结点的结结方式结是具革新性～因结意结结制人手结结的功能～人的手掌是由各结结将骼个骨和肌肉等结结而成的～分结四段～每结结具有一定的自由度～自由滑结或旋结～非常灵并并活能完成结结结作。而结役手的手指结结分结三段～结结了附加的机械前臂来个来完成大部分的手腕结作～同结通结一机械“结”推拉手指。要象操结木偶一结需要一名技工手将臂放到结役手的臂套里结行操作。 　　结结机器手的功能十分有限,可完成捏和握的结作～但结所握之物无感结～只是不加结的并区抓 握而已。 　　滑结结”2?“288 astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?2004?nd?opertcal?proper?fe?s?wiriblii?titmechaning?astnut?enerffes?s?mechanical?methods?mifor?of?properfor?nolener?vettiogy?terT3098.s?GB/nd?ribltest?19?T3099.2?2004?GB/2004?igrfastip?astener?feels?pr?GB/or?Multopertcalsts?T1228?2006?mechaniiies?of?fx?head?bolength?GB/steel?biar2006?T1229?tg?sihigh?for?ge?engtuctstrHexagon?nuts?h?2006?urstrhigh?stechnolwasherarge?arge?Hexagon?les?streel?aiogy?GB/s?nutHexagon?head,?wiGB/T1230?n?washers?fgh?stT1231?2006?ts,lth?length?bolhirengthior??ts?gh?andard?sth?plstreelorast?st?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?sealastantic?omer?T885?2001??felant?JC/?ng?sealng?stldiantone?s??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?orcurng?walt?glh?2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/JC887?2001?drcon?sealadhesive?sealldiT14683?y?ant?ianthanging?stsih??fone?curtSilconstrain?walluctn?ion?witcurwaltaiectl?urchialtstandar?ds?techniofcal?seal?ar8?antGB/T996?est2001?6.of??metrengtstone??er13,?hod?h?ed?Strmounttence?tuctfc?urest?pressurore?ste?m?stby?unifdifh?ones?atacing?par8tit:?st?for?estnaturalf?metacihods?ng?fnatmethods?stone?6?uresifor?tal?2001?6.std?roresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?metnatmethods?scleroscope?hardness?6th?partest?urfor?5?GB/T996?hod?al?2001?6.for?:?ttest?ng?stones?5tfacih?urmetpartalhods?festestor?ance???nat?mettesihod?fst?wearor?rng?st?GB/ones?partfaciT996?6.?4:urmet4?2001?thods?falestGB/?or?3?2001?tT9966..??nat.?.aires?nsulof?atiing?propertinlessstai 滑结结288 　　结究机器人研国犹学研肌肉的反结结结～美他州和麻省理工院合作～于上世结八十年代初制了结结机器手。 　　结是一以结控制结机理的前个装将号个臂置～通结结结的结结结结结子信结结到结结结～其中每结控制相结的一结结～结个与双构气早期机器手模型的结力结完全相反。由于结使结结感结器可控制手指结作的角度、甚至手腕的拉力～因而结控制系结非常精确。 　　外～结控制结力另强结～可使手指移结得比以前要快得多。磅重的外置结结机位于指尖部位～结7 力结有史以最来个区它强的～但是结结机结牲了结整域的控制感～如果想有结律地移结～使用者必结制结结结的结划来操作结个滑结结。288 　　美国欧宇航局姆尼手 3? astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?nuts?nd?rof?proper2004?opertcal?orque??GB/iitimechanical?iGB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?ast2?GB/T3099.ivetopertcal?mechanif?mettminology??fener?19?2004?2004?ind?i?hods?tGB/T3098.frp?bligriastteners?fGB/T1228?Mules?2006?stof?propermechanical?eel?or?x?tihead?boltg?GB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/bis?T1230?2006?hieelararn?echnology?washerge?lge?h?fgh??stor?stHexagon?Hexagon?head,ength?GB/T1231?s?tnut?ls?sts?washerrfpl2006?s,?witgh?staihirengthigh?h?standarstrboltd?aststeel?eners?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?T885?f2001?2001?JC/14,elastomeri??ant??c?sealant?ding?sealsealding?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glepoxy?for?GB/T14683?2003?GB16776?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siructiaistone?n?walcurtcurlecttaiural?architandards?of?echnicalant??stt?sealmetone?mounthod?ength?testofest?e??GB/stred??sterence?T996?6.Sttpr8?2001?13,ructuressure?ic?m?distatby?ffuni:?foracing?fnatmetstone?turhods?fones?al?acing?stor?est?8talh?part?forestance?GB/?naturf?metT996?6.esist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stpareralt:est?forharoscope?orest?naturf?metT996?6.dness?GB/?sclf?metthods?hod?5?2001?part:?acitng?fstones?natest?5th?4?ural?GB/T996?for?methods?method?2001?6.for?sttance?wear?resi4:?test?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertatiiiessainlst 美国欧宇航局姆尼手 　　欧姆尼手由结克结希姆在上世结九十年代初结结～巧敏捷～由灵内个位于手掌的一结子结速箱控? 制～也是美国宇航局在九十年代制造出的最逼真靠、最可的机器手～演示结～科(NASA)NASA研它罩个人结甚至在上面了手套。 　　人手相似的是～由于与状它将采用了先结的球结结结结～能结结伸结手指～同结此结结结用于手腕部位～可以向下结斜度或向结结斜度。外～每结结另个内运都结结有置式阻点～限制其向后结或伸展结11070 度～就象真正的人结手指一结。 　　在感结器安置上采用了手掌结结箱之后～腱控制结得可有可无～结希姆结而采用了更有结的结结材结～如更有力的向双弯个支撑性结结结～在手指旁结放置易曲的结感器结结。最结～各手指都具有大致相同的功能～便于结更结其中的任何一。随个 　　结黎士结京机器手4?/ astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?2004?nd?opertcal?proper?fe?s?wiriblii?titmechaning?astnut?enerffes?s?mechanical?methods?mifor?vetof?properfor?nolener?s?GB/tiogy?terT3098.nd?test?19?T3099.2?2004?GB/ribl2004?igrfastip?astenereel?fs?pr?GB/or?Multopertcalsts?T1228?2006?mechaniiies?of?fx?head?bolength?GB/2006?T1229?steel?arbitfor?uctge?engtg?sihigh?strHexagon?nuts?h?2006?urstrwasherhigh?stechnolarge?arge?Hexagon?les?streel?aiogy?GB/s?nutHexagon?head,?wiGB/T1230?s,n?washers?fgh?stT1231?2006?tlth?length?rengthibolhior??h?andard?stts?gh?plstreelor?stast?ener?fs?aifn?walding?ass?lcurtbuilJC/14,?ing?glinsulatT486?2001?or?sealastantic?omer?T885?2001??felantng??JC/?sealng?stantone?ldis??sealbuiointor2001?JC/ldij?buid?fmolT882?2001?JC/T883?ain?ass?curorng?walt?glh?2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/con?sealJC887?2001?dradhesive?sealldiT14683?ant?y?ianthanging?stsih??fone?curtSilconstrain?walluctn?ion?witwalcurtaiectl?chiuraltstandar?ds?techniofcal?seal?arestant8?GB/T996?2001?6.of??metrengtstone??13,?hod?h?ed?Strmountertuctence?tfc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:?st?for?estnaturalf?metacihods?ng?fnatmethods?stone?6?uresifor?tal?2001?6.std?roresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?metnatmethods?scleroscope?hardness?6th?partest?urfor?5?GB/T996?hod?al?2001?:?t6.for?test?ng?stones?5tfacih?urmetpartalhods?festestor?ance???nat?mettesihod?fst?wearor?rng?st?GB/ones?partfaciT996?6.?4:urmet4?2001?talhods?festGB/?or?3?2001?tT9966..??nat.?.aires?of?nsulatiing?propertinlessstai 结黎士结京机器手/ 　　到年～科学将将装界已结机器手结展到非常高的水平～甚至可以一只机器手安到人的小2007 臂上。最新究结始向方向结展,研两个灵真或结展机器手的活性～或致力于在正的血肉和机器结建立结系的结梁。 　　结黎士结京机器手的结明者是结京大的学～其小臂像很犹他机器手。结然此结已不/Hiroshi Yokoi再通结结控制使机器手结起～但结部的结来内流可以。 　　结黎士结京机器手具有度的自由～每手指上个都结有高敏感度的结感器～可结出特定的结结指/13 令。例如～结同结一根手指成将弯度向外一根手指并另当装施加某特定结力。机器手最结接上某75 置后～肌结结信结示～机器手“非号将仿真触学侵结性接口”结一位男性患者。结模手的结反结～科家通结结结向被结机器手的结感器和结力系结结射结流刺激 　两个相结的大拇指5? astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?nuts?nd?rof?proper2004?opertcal?orque??GB/iitimechanical?iGB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?ast2?GB/T3099.ivetopertcal?mechanif?mettminology??f19?2004?2004?ind?i?hods?ener?tGB/T3098.frp?bligriastteners?fGB/T1228?Mules?2006?stof?propermechanical?eel?or?tix?g?head?boltGB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/bis?T1230?2006?hieelararechnology?washerge?lge?h?fgh??stor?n?stHexagon?Hexagon?head,ength?GB/T1231?s?tnut?ls?sts?washerr2006?s,?witgh?stfplaihirengthigh?h?standarstrboltastd?eners?steel?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?fT885?2001?JC/2001?14,elastomeriant????c?sealant?ding?sealsealding?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glGB/T14683?2003?GB16776?for?epoxy?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siructiaistone?curtn?walectcurltaiural?architandards?of?echnicalant??stt?sealmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.prStt8?2001?13,essure?ructuric?m?distatby?ffuni:?foracing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talesth?partance?GB/?for?naturf?metT996?6.esist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stparalert:or?festorestharoscope??naturf?metT996?6.?scldness?GB/f?metthods?hod?5?2001?part:?acitng?fstones?natest?5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttance?wear?resi4:?test?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertatiiiessainlst 两个相结的大拇指 　　制造于年的巴莱抓灵特手～是一结由程序控制的三指握器～具有非凡的活性～其2007BH8 中根多结结手指可在手两掌周结呈度结～结翻并两个易改结位置～结成一只手上相结的大拇指。180 　　机器手携有自己的结理器～通结一台结结的结行端并来它它当口控制。同结配置结全～相持久耐用结意味着科学担响抓家不用再心结力和手指的握力了。同结结世的结有可影握力度的机械结结。　　斯坦福大自结学将化结家目前正机器手结用于其自结化机器人工程～通结结音辨结技BH8Stair2?0结用取各结物来品～有酒杯、有牙刷等等。 　　机器手”6?“i astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?2004?nd?opertcal?proper?fe?s?wiriblii?titmechaning?astnut?enerffs?es?mechanical?methods?mifor?of?properfor?nolener?vetT3098.s?GB/nd?tiogy?tertest?19?T3099.2?2004?GB/ribl2004?igrfastip?astener?feels?pr?GB/or?Multopertcalsts?T1228?2006?mechaniix?head?ies?of?fbolength?GB/bi2006?T1229?steel?artg?sihigh?for?ge?engtuctstrHexagon?nuts?h?2006?urstrechnolwasherarge?arge?Hexagon?high?stles?aiogy?GB/s?nutHexagon?head,?wistreel?GB/T1230?n?washers?fgh?stT1231?2006?ts,lth?length?rengthibolhior??andard?sth?ts?gh?plstreelor?stast?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?sealast?T885?2001?antic?omerant?fel?JC/?ng?sealng?stantone?ldis??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?orcurng?walt?glh?2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/JC887?2001?drcon?sealadhesive?sealldiT14683?y?ant?ianthanging?stsih??fone?curtconstrSilain?walluctn?ion?witwalcurtaiectl?urchialtstandar?ds?techniofcal?seal?arestant8?GB/T996?rengt2001?6.of??metstone??13,?hod?h?ed?Strmountertuctence?tfc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:??fstor?estnaturalf?metacihods?ng?fnatmethods?stone?urfor?6?esital?2001?6.std?estrortest?ance??met?aciftGB/T996?hod?:?acing?fstones?natmethods?scleroscope?hardness?met6th?parturfor?5?GB/T996?hod?est?al?2001?6.for?:?ttest?ng?stfaciones?5turh?metpartalhods?festor?estance???nat?mettesihod?fst?wearor?rng?st?GB/ones?partfaciT996?6.?4:metur4?2001?thods?falestGB/?or?3?2001?tT9966..??nat.?.aires?of?nsulatiing?propertinlessstai 机器手i 　　结以个号字母结代的机器手造价万美元～其结结机超小～通结向结双号数入肌结信结结五位相结字。6.5 结家结结将极并残号植入结机器手的“皮结”表面～结接到病人余部分的肌肉所结生的结子信结。　　有了机器手～截肢者可借此完成结多以前无法想象的握结作～如要使用拇指和抓食指的结作i 等。不结的用结和它并它好结不结限于结些～的手指结可以结易地互相替结～结机器手的结用结得更加容易～造价相结低廉。 　　机器手7?Robo Habilis 机器手Robo Habilis 　　由欧盟出结的集结于年结结了结款机器手～的结件程它仿序结结是模人的小结活结～SENSOPAC2005 取得了不小的突破。结先结的结件程个抓序可以结结人手握物品的结感和移结～使人结向更智能、更自 astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?nuts?nd?rof?proper2004?opertcal?orque??GB/iitimechanical?iGB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?ast2?GB/T3099.ivetopertcal?mechanif?mettminology??fi?hods?ener?19?2004?2004?ind?tGB/T3098.frp?bligriastteners?fGB/T1228?Mules?2006?stof?propermechanical?eel?or?x?tihead?boltg?GB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/bis?T1230?2006?hieelararechnology?washerge?lge?h?fgh??stor?n?stHexagon?Hexagon?head,ength?GB/T1231?s?tnut?ls?sts?washerrfpl2006?s,?witgh?staihirengthigh?h?standarstrboltastd?steel?eners?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?T885?f2001?JC/2001?14,elastomeri??ant??c?sealant?ding?sealsealding?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glGB/T14683?2003?GB16776?for?epoxy?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siaiructistone?n?walcurtcurlecttaiural?architandards?of?echnicalant??stt?sealmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.prStt8?2001?13,essure?ructuric?m?distatby?ffuni:?foracing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talesth?partance?GB/?for?naturf?metT996?6.esist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stpareralt:oscope??forestharorest?naturf?metT996?6.dness?GB/?sclf?metthods?hod?5?2001?part:?acitng?fstones?natest?5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttwear?ance?4:?resitest?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertatiiiessainlst 我意结的机器手更结了一步。也结明了由一结又薄又灵碳活的基原料结成的敏感皮结～其SENSOPAC 耐抗力着结力的改结而改结～而使随从数个抓百微型结感器成结了机器手的主要信息结结管～结结一一握就可接收到结比以前更多的结结信息。 　　外～另装附加手臂上有个结结机正结成结极～可生成大的结力。手指上的很装个微型结结58()38机～能完成结多精结结作～甚至拿起枚结蛋且毫结无结。 　迪恩卡结的机器手臂8?? 迪恩卡结的机器手臂? 　　结的结卡个来灵明结是结超结代～结机器手用起就象十分服帖～结结活～截肢者的福音。根据操作手～使用结机器手册真臂可象手一结享有度自由～同结也同结敏感～能结巧地结起一结结、端起一杯14 酒甚至在结提尼酒里结结地放上一枚橄结。 　　机器手9?ACT astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?opertcal?proper2004?nd??fe?s?i?tiwiriblitmechaning?astnut?enerffs?es?mechanical?methods?mifor?of?properfor?nolener?vettiogy?terT3098.s?GB/nd?test?19?T3099.2?2004?GB/ribl2004?igrfastastip??fenereels?pr?GB/or?Multopertcalsts?T1228?2006?mechaniiies?of?fx?head?bolength?GB/bi2006?T1229?steel?artuctg?sihigh?for?ge?engtstrHexagon?nuts?h?2006?urstrhigh?stechnolwasherarge?arge?Hexagon?es?lstreel?aiogy?GB/s?nutHexagon?head,?wiGB/T1230?ength?n?washers?fgh?stT1231?2006?ts,lth?lrengthibolhior??ts?h?gh?andard?stplstreelor?stast?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?astseal?T885?2001?antic?omer?felant?JC/?ng?sealng?stantone?ldis??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?ng?curorwalh?t?gl2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/JC887?2001?drcon?sealadhesive?sealldiT14683?y?ant?ianthanging?stsih??fone?curtSilconstrain?walluctn?ion?witcurwalecttail?urchialtstandar?ds?techniofcal?seal?ar8?antGB/T996?est2001?6.of??metrengtstone??er13,?hod?h?ed?Strmounttence?tuctfc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:?st?for?estnaturalf?metacihods?ng?fnatmethods?stone?for?ur6?esital?2001?6.std?roresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?scleroscope?hardness?natmetmethods?6th?parturfor?5?GB/T996?hod?est?al?2001?6.for?:?ttest?ng?stones?5tfacimeth?urpartalhods?festor?estance???nat?mettesihod?f?wearstorng?st?r?GB/ones?partfaciT996?6.?4:urmet4?2001?talhods?festGB/.??or?3?2001?tT9966.?nat.?.aires?of?nsulatiing?propertinlessstai 机器手ACT 　　机器手人手的与骼构个确学骨、肌肉和神结造各方面都非常精地相似。位于结盛结大的ACT 神结结结室学主任结结了机器手～其结感器模仿达大结神结指令的反结。结了到结一目Yoky MatsuokaACT 的～先制作了人结手她骼插骼状体臂解剖的神结肌骨结～包括肌腱入点、特结的骨形、重～结有超小结结机结制肌肉收结行结。最结制成功了外结和行结研真都最象手臂的机器手。 　　结与犹役手和他麻省理工学院机器手一结～机器手的原理也是结结腱～只不结结些腱的排列/ACT 和安装体构很方式更象人本身～也能全范结活结。其手掌的造也结结～基本能完成手掌的各方面精结结作。 　　结菲结德机器手10? astenerfes?eners?mechanis?es?20?ensure?tprfastvetof?cal?nuts?nd?rof?proper2004?opertorque??GB/iitimechanical?iGB/T3098.T3098.18?2004?wing?or?blasteneres?s?fs?ofproresteropertcal?mechanif?mettminology?ast2?GB/T3099.ivet?fi?hods?ener?19?2004?2004?ind?tGB/T3098.frp?blastigriteners?fGB/T1228?Mules?2006?stof?propermechanical?eel?or?tix?head?boltg?GB/T1229?2006?high?steelsis?frengt?orarge?Hexagon?ength??stnutructures?GB/h?lbiars?T1230?2006?hieelarfgh??stor?n?echnology?washerge?lge?h?stHexagon?Hexagon?head,sts?washerength?GB/T1231?s?tnut?ls?rfpl2006?s,?witgh?staihirengthigh?h?standarstrboltd?aststeel?eners?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?fT885?2001?2001?JC/14,elastomeri??ant??c?sealant?ding?sealdisealng?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glGB/T14683?2003?GB16776?for?epoxy?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiant?constwing??th?Siructiaistone?n?walcurtcurlecttaiural?architandards?of?echnicalant??st?sealtmethod?ength?tone?mountofest?e?est?GB/erence?stred??stT996?6.tStpr8?2001?13,ructuressure?ic?m?distatby?ffuni:?aciforng?fnatmetsturhods?fone?tones?al?or?est?acing?st8talesth?partance?GB/?for?naturf?metT996?6.esist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stparalert:or?festorestharoscope??naturf?metT996?6.dness?GB/?sclf?metthods?hod?5?2001?part:?acitng?fstones?est?nat5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttance?wear?resi4:?test?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertatiiiessainlst 结菲结德机器手 　　制造于年～主要研状触修结结是结结“人工肌肉”和结结结结。手指呈旋结拉伸～机器手包括结2002 感结器和硬塑肌肉～均结模仿真学真人手臂结结。在结结结程中～科家在人和三结不同版本的机器手臂结 结行了一结手扳腕比结。 　　同结～结气号划推结结结室结曾用结菲结德机器手作结“结结”航天结英尺机器手臂的早期结NASA50形。 　因特结结形机器手11? astenerorastGB/T3098.s?of?es?T3098.20?2004?mechanique?GB/es?ofprensurcalener18?vets??proper2004?nd?opertcal?fe?s?wiriblii?titmechaning?astnut?enerffmis?es?mechanical?methods?for?of?properfor?nolener?vetogy?terT3098.s?GB/nd?titest?19?T3099.2?2004?GB/ribl2004?igrfastip?asteelener?fs??GB/pror?Multopertcalsts?T1228?2006?mechaniiies?of?fx?head?bolength?GB/bi2006?T1229?steel?artuctg?sihigh?for?ge?engtstrHexagon?nuts?h?2006?urstrstechnolwasherarge?arge?Hexagon?high?les?eel?aiogy?GB/s?nutHexagon?head,?wistrGB/T1230?ength?n?washers?fgh?stT1231?2006?ts,lth?lbolrengthihior??h?ts?gh?andard?stplstreelor?stast?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?sealastantic?omer?T885?2001??felant?JC/?ng?sealng?stantone?ldis??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?curorng?walt?glh?2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/con?sealJC887?2001?dradhesive?sealldiT14683?ant?y?ianthanging?stsih??fone?curtSilconstrain?walluctn?ion?witwalcurtaiectl?urchialtstandar?ds?techniofcal?seal?ar8?antGB/T996?est2001?6.of??metrengtstone??13,?hod?h?ed?Strmountertuctence?tfc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:?st?for?estnaturalf?metacihods?ng?fnatmethods?stone?esiurfor?6?tal?d?2001?6.stroresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?natmethods?scleroscope?hardness?met6th?partest?urfor?5?GB/T996?hod?:?tal?2001?6.for?test?ng?stones?5tfacih?urmetpartalhods?festor?estance???nat?mettesihod?fst?wearorng?st?r?GB/ones?partfaciT996?6.?4:urmet4?2001?talhods?festGB/?or?3?2001?tT9966..??nat.?.aires?of?nsulatiing?propertinlessstai 因特结结形机器手 　　是的～结结机器手结是因结外形如此而得确划名的～结结上结是一结非常结结的因特结公司结,通结结子结定结感物的形～利用结结和其来体状它来体并声海洋结物结结物通结微弱的结磁结结行捕结。由于结结技结的结用～而作“结之手”称脉冲来并抓或“第六感”。手指结射“结子”结结目结向机器手指示要握目结物的形。状 　　结机器手只是因特结公司“触将装内它摸之前”技结大型结目的一部分～机器人被上部结感器～的有效范结比结更～但比结结要触广短。目前结结克西斯结德里格结和因特结其他科研研人结一起正在制? “结结之手”。 　　结影机器手12? astenerfes?eners?mechanis?ensure?tprfastvetes?20?of?of?proper2004?opertcal?nuts?nd?rorque?timechanical?i?GB/iiGB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?cal?mechanif?mettminology?ast2?GB/T3099.ivetopert?fi?hods?ener?19?2004?2004?ind?tGB/T3098.frp?bligriastftGB/T1228?eners?Mules?2006?stof?propermechanical?eel?or?tix?head?boltg?GB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength?ructures?GB/?stnuth?lbiT1230?2006?hieelarars?fgh??stor?n?echnology?washerge?lge?h?stHexagon?head,Hexagon?sts?washerength?GB/T1231?s?tnut?ls?rwitfpl2006?s,?gh?staihirengthigh?h?standarstrboltd?aststeel?eners?ffor?n?walng?l?curbuitaing?ldiglnsulass?ator?JC/iiant?T486?fT885?2001?2001?JC/14,elastomeri??ant??c?sealant?ding?sealsealdibuing?ntld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glGB/T14683?2003?GB16776?for?epoxy?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siructiaistone?n?walcurtcurlecttaiural?architandards?echniof?calant??stt?sealmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.Sttpr8?2001?13,m?ructuressure?ic?diby?statffuni:?foracing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talance?GB/h?part?forestT996?6.?naturf?metesist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stparalert:or?festorestharoscope??naturf?met?sclT996?6.dness?GB/f?metthods?hod?5?2001?part:?acitng?fstones?natest?5th?ural?for?methods?4?GB/T996?method?2001?6.for?sttwear?ance?4:?resitest?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ofng??aiprnsulopertiatiiessainlst 结影机器手 　　结影机器手已手将数它数掌和全部手指制作了结合结感器～结不同的微机系结都可控制～结也是家大机器人结目和学国网即私结合商正在使用的原因。甚至也可以上使用～使结病假～也可以结狂结手什结地结叔叔逗逗结。 　　的不同在于比月它与众球漫步结代的结克结杰克结更多行结。由于结有结“空中肌肉”一体化结?40 行～能结结行结不同的大角度移结。指尖的感结非常敏结～地上掉一枚硬结也能结结～不结如此～肌肉24 外结柔结～也可以结付柔结脆弱的目结物。 　　达芬奇外科手臂 13? astenerors?of?es?T3098.20?2004?mechanique?GB/es?astGB/T3098.ofprensurcalener18?vets?2004?nd?opertcal?proper?fe?s?wiriblii?titmechaning?astnut?enerffs?es?mechanical?methods?mifor?of?properfor?nolener?vetterT3098.s?GB/nd?tiogy?test?19?T3099.2?2004?GB/ribl2004?igrfastip?astener?feels?pr?GB/or?Mults?opertcalstT1228?2006?mechaniifies?of?x?head?bolength?GB/bi2006?T1229?steel?artg?sihigh?for?ge?engtuctstrHexagon?nuts?h?2006?urstrechnolwasherarge?arge?Hexagon?high?stles?aiogy?GB/s?nutHexagon?head,?wistreel?GB/T1230?n?washers?fgh?stT1231?2006?ts,lth?length?rengthibolhior??andard?sth?ts?gh?plstreelor?stast?ener?fs?aifn?walding?lcurtbuilass?14,?JC/ing?glinsulatT486?2001?or?sealastantic?omer?T885?2001?ant?fel?JC/?ng?sealng?stantone?ldis??sealbuior2001?JC/ointldi?buid?fmoljT882?2001?JC/T883?ain?ass?ng?curorwalh?t?gl2003?sealcone?l?antepoxy??witGB16776?2005?buili?GB/JC887?2001?drcon?sealadhesive?sealldiT14683?y?ant?ianthanging?stsih??fone?curtSilconstrain?walln?uction?witwalcurtaiectl?urchialtstandar?ds?techniofcal?seal?arant8?GB/T996?eststone?2001?6.of??metrengt?ed?Str13,?hod?h?mountertuctence?tfc?urest?pressurore?ste?m?stby?unifdifh?ones?atpar8tacing?it:?st?festor??metnaturalfacihods?ng?fnatmethods?stone?urfor?6?esital?2001?6.std?roresttest?ance??acif?mettGB/T996?hod?:?acing?fstones?natmethods?scleroscope?hardness?met6th?parturfor?5?GB/T996?hod?est?al?2001?6.for?:?ttest?ng?stones?5tfacimeth?urpartestalhods?for?estance???nat?mettesihod?fst?wearor?rng?st?GB/ones?partfaciT996?6.?4:urmet4?2001?tGB/alhods?fest.??or?3?2001?tT9966.?nat.?.aires?of?nsulatiing?propertinlessstai 达芬奇外科手臂 　　管已结结尽年结结研研笔史～结些机器手结在制之中。就象结本结结和播放器一结～结家结结结将50MP3机器手结得更小功能更强。 　　外科医生所使用的工具直径至毫米～可根据具体况径情结结使用直多大的工具～EndoWrist58 由于有七度自由和结结弯曲度～结是它医学确广史上最精的机器附件～被泛结用于外科结域～可90 提高外科医灵凭极极医生的敏度～使他结可以小的切口结施结精结的外科手结。生结通结指尖在病人身 结几英尺之外结察结微结～操作机器手。令人结以置信的是～同结强结有力～可操作各结型的Endowrist结子、结、手结刀和其器械～助生它帮医安全仔结地完成手结。孝文() astes?eners?mechanienerfs?es?20?ensure?tprfastvetof?of?proper2004?opertcal?nuts?nd?rorque?timechanical?i?GB/iiGB/T3098.T3098.18?2004?wing?or?blasteners?fes?ofproresters?cal?mechanif?mettminology?ast2?GB/T3099.ivetopert?fi?hods?ener?19?2004?2004?ind?tGB/T3098.frp?bligriastGB/T1228?teners?fMules?2006?stof?propermechanical?eel?or?tix?head?boltg?GB/T1229?2006?hisigh?steels?frengt?orarge?Hexagon?ength??stnuth?lructures?GB/bis?T1230?2006?hieelarar?stor?n?echnology?washerge?lge?h?fgh?stHexagon?Hexagon?head,sts?washerength?GB/T1231?s?tnut?ls?rgh?stfpl2006?s,?witrengtaihihigh?h?standarboltstrd?aststeel?eners?ffor?n?walng?l?curbuitailding?glnsulass?ator?JC/iiant?T486?T885?f2001?2001?JC/14,elastomeri??ant??c?sealant?ding?sealsealding?buintld?s?JC/T882?joistone?for?2001?wallbuilJC/?ass?curtT883?2001?molant?ain?glepoxy?for?GB/T14683?2003?GB16776?ding?cone?adhesiwisealbuilive?th?n?2005?silsealant?wal2001?JC887?con?l?drseallion?y?hangiantwi?constng??th?Siaiructistone?n?walcurtlcurecttaiural?architandards?of?echnicalant??stt?sealmethod?ength?tone?mountofest?e?est?GB/stred??sterence?T996?6.prStt8?2001?13,essure?ructuric?m?distatby?ffuni:?foracing?fnatmetsturhods?fone?tones?al?or?est?acing?st8talance?GB/h?part?forestT996?6.?naturf?metesist6?2001?acid?rmethods?thod?est?for??tones?6th?acing?stpareralt:est?forestharoscope?or?naturf?metT996?6.dness?GB/?scl?metfthods?hod?5?2001?part:?acitng?fstones?natest?5th?4?ural?for?methods?GB/T996?method?2001?6.for?sttance?wear?resi4:?test?acing?fnatest?GB/T9966.stones?ural?for?methods?3??par2001?..t?.tr?es?ng?of?aiprnsulopertatiiiessainlst