Embedding Soft Synergies into Soft Materials for Intrinsic Compliant Robotic Hand Grasping

Sardinha, Emanuel Nunez; Garate, Virginia Ruiz; Jafari, Aghil; Etoundi, Appolinaire C.

doi:10.1109/aim52237.2022.9863312

Cited by 4 publications

(9 citation statements)

References 18 publications

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“…1. Actuation of the proximal and distal phalanges of the thumb: The actuation of the proximal and distal phalanges is controlled by an individual cable running internally in the thumb, similar to that in the fingers (as discussed in [7]). This cable is routed through the thumb, into the First Metacarpal, through the CMC and the across the hand into a cable gate before being attached to a handle on the left of the Dorsal layer of control mechanisms.…”

Section: Dorsal Layer Control Mechanismsmentioning

confidence: 99%

“…Recently the paper by Sardinha et al [7] demonstrated the functionality of embedding grasping synergies directly within singular soft materials, simplifying multi-part robotic fingers into adaptable anthropomorphic structures with human-like motion. Each soft robotic finger is controlled by a singular DOF input, utilising an interior tendon to cause the finger to grip.…”

Section: Related Workmentioning

confidence: 99%

“…The following section covers the design process for the Anthro-Thumb including the design of the CMC joint, its ligamentous and muscle structure. The design of the hand frame is then discussed, followed by the construction of the fingers based on the same methodology developed for the soft-hand presented in Nunez-Sardinha et al [7]. Finally, the final assembly and its integration is presented.…”

Section: Design and Fabricationmentioning

confidence: 99%

“…This bio-inspired (or biomimetic) system enables anthropomorphic movement of the thumb, improving the realism of the hand and aligning its dexterity with that expected of a biological hand. The embedding of the joint into a soft robotic thumb retains the benefits of the use of singular soft material structure [7] whilst incorporating the full ROM aspired for by a biomimetic thumb. The CMC joint of the thumb enables abduction, adduction, flexion, (passive) extension, and circumduction via a series of four controlling pseudo-muscles (cables mapped to the origin and attachment of each of the muscles of the thenar eminence and the adductor pollicis).…”

Section: Introductionmentioning

confidence: 99%

“…In section 3 we design the biomimetic soft robotic hand, comprising of the CMC saddle joint, pseudo-capsular ligament, pseudo-muscles, first metacarpal, and soft robotic exterior. We build upon the fingers as developed by Sardinha et al [7] which provide easy to control humanlike synergies and compliance in a simple and low-cost form factor. We also detail the fabrication process of the thumb itself.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

The Anthro-Thumb: A Biomimetic Soft Robotic CarpoMetaCarpal (CMC) Saddle Joint for the Thumb

Symes,

Sardinha,

Jafari

et al. 2023

Preprint

Self Cite

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Robotic hand design is multifaceted, with the design of robotic thumbs often oversimplified for ease of manufacture, control, and reliability. While soft robotics presents a plethora of design possibilities, this paper delves into the conception, evolution, and evaluation of a unique bio-inspired soft thumb. By harnessing the biologically accurate mechanisms of the CMC joint, this research seeks to enhance the functionality of tendon-driven robotic hands. The introduced Anthro-Thumb is a biomimetic soft robotic thumb, providing a comprehensive range of motion at the thumb’s base, all the while ensuring cost-efficiency and reduced mechanical intricacy. A holistic overview of thumb bio-mechanics is presented, extracting relevant biological data and juxtaposing it with the prevailing trends in robotic thumb systems. When subjected to the Kapandji physiotherapy test, the design secured a commendable score of 9. The findings affirm that employing biomimetic soft structured robotic CMC saddle joints is a promising strategy to navigate the intricacies associated with robotic thumb development in robotic hands.

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Section: Dorsal Layer Control Mechanismsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Design and Fabricationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

The Anthro-Thumb: A Biomimetic Soft Robotic CarpoMetaCarpal (CMC) Saddle Joint for the Thumb

Symes,

Sardinha,

Jafari

et al. 2023

Preprint

Self Cite

View full text Add to dashboard Cite

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Evaluation and Future Perspectives on “Anthro-Hand”

Rose,

Jafari,

Etoundi

2024

2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA)

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PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity

Stella,

Achkar,

Santina

et al. 2023

Preprint

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Quadrupedal animals show remarkable capabilities in traversing diverse terrains and display a range of behaviors and gait patterns. Achieving similar performance is a key goal for robotics researchers. We propose a bio-inspired approach to the design of quadrupeds that seeks to exploit the body and the passive properties of the robot. Using this novel approach we develop \textit{PAWS}, a Passive Automata With Synergies. By leveraging the principles of motor synergies, the design incorporates variable stiffness, biological anatomical insights, and self-organization to simplify control while maximizing its capabilities. The resulting synergy-based quadruped requires only four actuators and exhibits emergent, animal-like dynamical responses, including robustness to environmental perturbations and a wide range of behaviors. The finding contributes to the development of machine intelligence, and provides robots with more efficient and natural-looking robotic locomotion by combining synergistic actuation, compliant body properties, and embodied compensatory strategies.

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Embedding Soft Synergies into Soft Materials for Intrinsic Compliant Robotic Hand Grasping

Cited by 4 publications

References 18 publications

The Anthro-Thumb: A Biomimetic Soft Robotic CarpoMetaCarpal (CMC) Saddle Joint for the Thumb

The Anthro-Thumb: A Biomimetic Soft Robotic CarpoMetaCarpal (CMC) Saddle Joint for the Thumb

Evaluation and Future Perspectives on “Anthro-Hand”

PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity

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