A 22-DOFs Bio-inspired Soft Hand Achieving 6 Kinds of In-hand Manipulation

Zhou, Jianshu; Li, Yunquan; Yang, Yang; Cao, Hanwen; Huang, Junda; Liu, Yunhui

doi:10.1109/rcar52367.2021.9517366

Cited by 11 publications

(3 citation statements)

References 27 publications

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“…The common workspace between fingers is critical for in-hand manipulation. Designing multi-DOF soft fingers is a viable solution to address this, as demonstrated by integrating multiple actuators into a single finger [5,19,76,77]. Yet, this integration increases finger size and weight.…”

Section: Dexterous Anthropomorphic Handsmentioning

confidence: 99%

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Wang,

Hao,

Liu

et al. 2024

Actuators

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Humans possess dexterous hands that surpass those of other animals, enabling them to perform intricate, complex movements. Soft hands, known for their inherent flexibility, aim to replicate the functionality of human hands. This article provides an overview of the development processes and key directions in soft hand evolution. Starting from basic multi-finger grippers, these hands have made significant advancements in the field of robotics. By mimicking the shape, structure, and functionality of human hands, soft hands can partially replicate human-like movements, offering adaptability and operability during grasping tasks. In addition to mimicking human hand structure, advancements in flexible sensor technology enable soft hands to exhibit touch and perceptual capabilities similar to humans, enhancing their performance in complex tasks. Furthermore, integrating machine learning techniques has significantly promoted the advancement of soft hands, making it possible for them to intelligently adapt to a variety of environments and tasks. It is anticipated that these soft hands, designed to mimic human dexterity, will become a focal point in robotic hand development. They hold significant application potential for industrial flexible gripping solutions, medical rehabilitation, household services, and other domains, offering broad market prospects.

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Section: Dexterous Anthropomorphic Handsmentioning

confidence: 99%

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Wang,

Hao,

Liu

et al. 2024

Actuators

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show abstract

“…The grasping trial is considered a success if the target is grabbed and successfully lifted. The supplied pressures are static [24] Soft continuum Pneumatic artificial muscle Passive None None Gu et al, 2021 [25] Soft continuum Pneumatic artificial muscle Passive None None Zhou et al, 2021 [20] Soft continuum Pneumatic artificial muscle Active None None Bicchi et al, 2014 [18] Flexible joint Cable and motor Passive None None Dollar et al, 2010 [17] Flexible joint Cable and motor Passive None None Xu et al, 2016 [48] Anthropomorphic joint Cable and motor Passive Unverified None Gollob et al, 2022 [49] Anthropomorphic joint Pneumatic artificial muscle Active Unverified None Chen et al, 2016 [32] Soft continuum Pneumatic artificial muscle Passive Non-autonomous (jamming)…”

Section: Grasp Experimentsmentioning

confidence: 99%

“…The second category of soft robotic hands generally consists of fingers with soft continuum structures. [19][20][21][22][23] For instance, Deimel and Brock [24] present the RBO hand 2 with a flexible body that exhibits high compliance and can achieve diverse grasp postures under simple control. In our previous work, [25] we develop a soft prosthetic hand based on a fiber-reinforced elastomeric tubular finger, in which rigid segments with specific lengths are embedded to mimic the soft-joint/rigid-bone anatomy of the human fingers.…”

mentioning

confidence: 99%

A Biomimetic Soft‐Rigid Hybrid Finger with Autonomous Lateral Stiffness Enhancement

Zhou

Zhang

2022

Advanced Intelligent Systems

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The application of soft robotics improves the compliance of robotic fingers, which, however, usually loses sufficient stiffness. Here, a biomimetic soft‐rigid hybrid (BSH) finger that can achieve both inherent compliance and autonomous lateral stiffness enhancement is proposed. Driven by pneumatic artificial muscles, the proposed two‐joined BSH finger can produce two flexion degrees of freedom (DOFs) and one lateral DOF motion. Imitating the human finger anatomy, the BSH finger is designed with elliptical bony ridges and eccentrically arranged ligaments. By leveraging the contact interference of the ridges and tensioning of the ligaments, the lateral stiffness of the BSH finger can be autonomously enhanced through finger flexion. During its natural stage, the lateral stiffness is relatively low to ensure mobility and compliance, while in its flexion stage, its lateral stiffness can increase to resist lateral deflection and high payload. To further investigate the advantages of the design, four BSH fingers are assembled into a robotic hand prototype with three grasping types including enveloping grasp, precise pinch, and power grasp. Experimental results demonstrate that the robotic hand prototype is capable of grasping various objects with a wide range of diameters, lengths, thicknesses, and weights, which will verify the effectiveness of the design methodology.

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Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration

Huang

Zhou

Wang

et al. 2022

Advanced Intelligent Systems

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Bio‐inspired soft robots provide a promising solution for robots working in human‐centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is predefined during manufacturing; on the other hand, the multimodal perception of the deformable soft actuator is challenging. In this work, a reconfigurable and proprioceptive soft origami module is presented, where two kinds of basic actuation modes (i.e., extension and bending) are realized, and multimodal perception is enabled using a novel foldable self‐inductance sensor. As a result, the origami module can be reconfigured to assemble multifunctional robots that can measure interaction force, body configuration, and other environmental information. Dedicated experiments are performed to validate the performance of the proposed origami module. An intelligent gripper assembled using three origami modules is designed with the capabilities of grasping mode adjustment, grasping force measurement, and the grasping target's size measurement. An intelligent jellyfish is assembled using five origami modules, and equipped with buoyancy adjustment and underwater grasping capabilities. The proposed proprioceptive modular soft origami provides an effective solution for versatile and intelligent soft robot design.

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A 22-DOFs Bio-inspired Soft Hand Achieving 6 Kinds of In-hand Manipulation

Cited by 11 publications

References 27 publications

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

A Biomimetic Soft‐Rigid Hybrid Finger with Autonomous Lateral Stiffness Enhancement

Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration

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