Design and performance characterization of a soft robot hand with fingertip haptic feedback for teleoperation

Li, Min; Zhuo, Yueyan; Chen, Jiazhou; Xu, Guanghua; Xie, Jun; Zhao, Xingang; Yao, Wei

doi:10.1080/01691864.2020.1822913

Cited by 14 publications

(6 citation statements)

References 41 publications

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“…The hybrid design of the granular-tendon gripper demonstrates its capability to universally adapt to multiple objects of diverse sizes and weights, from light to heavy, which can be mounted to the robot arm [ 52 ], therapy robot hands [ 53 ], and soft haptic fingers [ 54 ]. The gripper exhibited high success rates in picking up small- and big-size objects.…”

Section: Discussionmentioning

confidence: 99%

Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

Nguyen,

Dhyan,

Han

et al. 2023

Micromachines

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Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.

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Section: Discussionmentioning

confidence: 99%

Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

Nguyen,

Dhyan,

Han

et al. 2023

Micromachines

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“…[193] Soft grippers with these sensors are highly adaptable to the shape of objects and teleoperation with haptic feedback allows for complex work to be performed such as grasping and handling fragile items remotely. [194]…”

Section: Magneticmentioning

confidence: 99%

3D Printing of Robotic Soft Grippers: Toward Smart Actuation and Sensing

Goh

Lyu

Ariffin

et al. 2022

Adv Materials Technologies

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Unlike traditional hard grippers, soft robotic grippers are commonly made of soft materials so that the soft grippers can produce motion via elastic deformations of their compliant components. The advantages of compliance allow soft grippers to effectively eliminate shocks caused by hard contact, which usually occurs when a hard robotic gripper manipulates a hard object. Until now, the soft robotic grippers are able to operate numerous objects with irregular geometries and different textures. Besides, with the help of embedded sensors, soft robotic grippers have facilitated the growing automation of many tasks, which are thought to be far too delicate for robotic manipulation. This paper reviews the advancement in soft robotic grippers. The paper first introduces the actuation technologies followed by the design and fabrication techniques. The use of 3D printing techniques in the fabrication of the soft gripper is also discussed. The Review then highlights the challenges and future outlook in the fabrication of soft grippers and sensors.

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“…Impedance-controlled rehabilitation exercises can provide different stimulation to muscles through different combinations of impedance parameters and adjust the exercise intensity by changing the control gain of the motion program controller [18]. Min Li team from Xi'an Jiaotong University [19] designed a robot teleoperation soft hand based on tactile feedback of fingertips is used to complete complex tasks and ensure the safety and friendliness of human-computer interaction. Manipulator can achieve finger flexion and contraction action.…”

Section: Related Workmentioning

confidence: 99%

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic

Wang¹,

Xu²,

Yang³

et al. 2021

Preprint

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A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and soft palm, which realizes the characteristic grasping function of forehand and backhand. Combined with the fine fluid control system, the soft hand can realize flexible grasping under high pressure, so as to realize flexible grasping operation for different types of target objects in the underwater environment. The soft robot hand was controlled based on water hydraulic platform, Finally, the soft robot hand and the fine fluid control system were connected to form the underwater soft robot hand experiment platform.

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Design and performance characterization of a soft robot hand with fingertip haptic feedback for teleoperation

Cited by 14 publications

References 41 publications

Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

Universally Grasping Objects with Granular—Tendon Finger: Principle and Design

3D Printing of Robotic Soft Grippers: Toward Smart Actuation and Sensing

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic

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