VarWrist: An Anthropomorphic Soft Wrist with Variable Stiffness
发布时间：2025-10-16
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- 发布时间：
- 2025-10-16
- 论文名称：
- VarWrist: An Anthropomorphic Soft Wrist with Variable Stiffness
- 发表刊物：
- IEEE Robotics and Automation Letters
- 摘要：
- Robotic wrists play a crucial role in enhancing the dexterity and stability of robotic end-effectors. Existing rigid robotic wrists tend to be complex and lack flexibility, while soft robotic wrists often struggle with limited load-bearing capacity and lower accuracy. Human wrists feature multi-degrees of freedom and variable stiffness, which help human hands to accomplish daily tasks. This study presents an innovative anthropomorphic soft robotic wrist, VarWrist, equipped with a fiber jamming variable stiffness module, enabling stiffness adjustment through vacuuming. VarWrist consists of three parallel bellows, utilizing a positive-negative pneumatic actuation strategy to mimic human wrist motion. In addition, the trajectory equation of the rotation center was fitted through modeling. We developed a prototype of VarWrist and assessed its performance. Results indicate that the soft wrist surpasses the motion range of human wrists, achieving flexion (81.9°), extension (78.5°), ulnar deviation (70.5°), and radial deviation (70.5°). The bending motion trajectory showed a 73% increase in similarity to human motion compared to fixed-axis rotation, with VarWrist exhibiting a significant range of variable stiffness (resting state: 206%, working state: 155%). Demonstration experiments confirm that this wrist facilitates a dexterous hand in completing grasping tasks that would be unattainable by the hand alone.
- 合写作者：
- Chaozhou Zhang; Min Li; Zhanshuo Yang; Xiangrui Kong; Jiayi Luo; Yushen Liu; Jian Fu; Guanghua Xu; Shan Luo
- 卷号：
- 10.1109/LRA.2025.3579629
- 是否译文：
- 否
- 发表时间：
- 2025-06-13