This paper introduces an anthropomorphic robot hand built entirely using LEGO MINDSTORMS: the Educational SoftHand-A, a tendon-driven, highly-underactuated robot hand based on the Pisa/IIT SoftHand and related hands. To be suitable for an educational context, the design is constrained to use only standard LEGO pieces with tests using common equipment available at home. The hand features dual motors driving an agonist/antagonist opposing pair of tendons on each finger, which are shown to result in reactive fine control. The finger motions are synchonized through soft synergies, implemented with a differential mechanism using clutch gears. Altogether, this design results in an anthropomorphic hand that can adaptively grasp a broad range of objects using a simple actuation and control mechanism. Since the hand can be constructed from LEGO pieces and uses state-of-the-art design concepts for robotic hands, it has the potential to educate and inspire children to learn about the frontiers of modern robotics.

翻译：本文介绍了一种完全使用LEGO MINDSTORMS构建的拟人化机器人手：教育型SoftHand-A。这是一种基于Pisa/IIT SoftHand及相关设计的腱驱动、高度欠驱动的机器人手。为适应教育场景，该设计限定仅使用标准乐高零件，并通过家庭常见设备进行测试。该机械手采用双电机驱动每根手指上的拮抗肌腱对，实验证明这种设计能实现反应式精细控制。手指运动通过软协同机制实现同步，该机制由采用离合器齿轮的差动机构实现。整体设计使得该拟人化机械手能够通过简单的驱动与控制机制自适应抓取多种物体。由于该机械手可由乐高零件构建并采用了机器人手的前沿设计理念，其具备教育和启发儿童了解现代机器人学前沿领域的潜力。