A facile fabricating method for smart soft robotic hand

Du, Haiyang; Yao, Yongtao; Zhou, Xiaoli

doi:10.1002/pen.26190

Cited by 3 publications

(1 citation statement)

References 27 publications

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“…Recently, soft biomimetic hands have garnered considerable attention. For example, flexible materials such as Thermoplastic Polyurethane (TPU) and Polydimethylsiloxane (PDMS) are commonly used for the main body to replace entire hands [ 1 ] or individual fingers [ 2 , 3 ] in all-soft robots. Shape Memory Alloy (SMA) wires are inserted into these materials to drive the extension and flexion motions by utilizing their contraction properties.…”

Section: Introductionmentioning

confidence: 99%

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Liu,

Zheng,

Hliboký

et al. 2024

Biomimetics

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This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires’ muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots.

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Section: Introductionmentioning

confidence: 99%

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Liu,

Zheng,

Hliboký

et al. 2024

Biomimetics

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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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Two-Way Shape Memory Effect of a Shape Memory Composite Strip

Yao

Liu

et al. 2023

Applied Sciences

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In this work, a NiTi shape memory alloy (SMA) wire was embedded into a rubber/shape memory polymer (SMP) soft matrix to form a composite strip with a two-way reversible bending behavior. First, the elastic moduli of SMA wire were characterized as increasing about 3 times (18.6 GPa at martensite phase and 50.1 GPa at austenite phase) from 25 °C to 90 °C. Then, an SMA composite strip using SMP to replace the rubber matrix was fabricated to significantly improve the load-bearing ability (16-fold) at 28 °C. After that, the good two-way bending behaviors of the rubber/SMP-based SMA strip with high shape deploying ratio above 80% were demonstrated. Finally, the application of rubber/SMP-based composite strips in a space-deployable antenna model with two-way reversible bending behavior was developed and demonstrated through a heating and cooling temperature cycle.

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A facile fabricating method for smart soft robotic hand

Cited by 3 publications

References 27 publications

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Anthropomorphic Soft Hand: Dexterity, Sensing, and Machine Learning

Two-Way Shape Memory Effect of a Shape Memory Composite Strip

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