Towards Behavior Design of a 3D-Printed Soft Robotic Hand

Scharff, Rob B. N.; Doubrovski, Eugeni L.; Poelman, Wim; Jonker, Pieter; Wang, Charlie C. L.; Geraedts, Jo M. P.

doi:10.1007/978-3-319-46460-2_4

Cited by 51 publications

(25 citation statements)

References 12 publications

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“…A fully 3D-printed soft hand-shaking robot that feels how hard you squeeze its hand and squeezes back accordingly was created as a metaphor for how soft robotics technology can improve Human-Robot Interaction (HRI). Soft robotic hand used in this work was originally built as a case study for behavior design in 3D-printed soft robotics [31]. The field of soft robotics focuses on the use of materials with YoungâȂŹs moduli in the range of that of soft biological materials in order to improve the safety and adaptability of robots [32].…”

Section: Applicationmentioning

confidence: 99%

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Khanbareh

Boom

Schelen

et al. 2017

Sensors and Actuators A: Physical

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The need for flexible, highly sensitive tactile sensors that can fit onto curved surfaces is driving the conformable sensor materials research in the field of Human-Machine Interactions. Here we report a new type of compliant piezoelectric active composite, a micro-porous polyurethane-PZT material, capable of generating a voltage output upon touch. The composites are synthesized with the aim of maximizing the piezoelectric sensitivity of particulate composite sensor materials. The goal is to reduce the dielectric constant of the polymer matrix and improve flexibility of conventional bulk piezo-composites, consisting of ceramic particles in a dense polymeric matrix, by adding a third (gaseous) phase to the system in the form of uniformly sized pores. The presence of the gaseous component in the polymer matrix in the form of well-distributed spherical inclusions effectively decreases the polymer dielectric permittivity, which increases the piezoelectric voltage sensitivity (g 33) of the composite sensors significantly. The unique combination of dielectrophoretic structuring of PZT particles and the addition of a gaseous phase to the polymer resin results in the highest performance of the particulate composite sensors reported in the literature so far. The newly developed micro-porous composites show g 33 value of 165 mV.m/N that is twice that of the structured PZT-bulk PU composites (80 mV.m/N) and more than five times the g 33 value of bulk PZT ceramics (24-28 mV.m/N). The capability of the flexible freestanding sensors for application in touch sensing devices for soft robotics is demonstrated.

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Section: Applicationmentioning

confidence: 99%

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Khanbareh

Boom

Schelen

et al. 2017

Sensors and Actuators A: Physical

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“…The approximation results are listed as follows: With (8) and (9), position of the fingertip can be derived once resistance change of three position feedback modules is measured.…”

Section: ) Relationship Between Resistance and Joint Bending Anglementioning

confidence: 99%

“…The palm part of the hand was 3D printed with rigid material. A soft robotic hand proposed by Scharff et al had ten air chambers in total for actuation including the wrist's movement [8]. The specialty of this work was that the whole hand was totally 3D printed (selective laser sintering, in particular) with flexible materials.…”

Section: Introductionmentioning

confidence: 99%

Design and Automatic Fabrication of Novel Bio-Inspired Soft Smart Robotic Hands

Yang

Chen

et al. 2020

IEEE Access

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Soft material robots are developing rapidly benefited from their inherent flexibility, adaptability and safety compared to rigid-bodied robots. However, most soft robots are unable to offer high force/strength due to the low rigidity of soft materials that they are composed of. Absence of position feedback is another problem for soft robots. In this research, we aim to address these two challenges in a novel designed soft smart robotic hand. The design of this soft hand is also delicately considered to make it 3D printable, which shortens the design cycle and reduces the fabrication time. This hand consists of five fingers and a palm, all of which can be actuated independently. The finger is designed with two chambers: one airtight active chamber which can be actuated by compressed air, one passive chamber filled with loosely arranged particles. During bending actuation, particles inside the passive chamber are squeezed by pressurized air, which causes passive jamming. As a result, the stiffness of the finger is strengthened during bending, which endows the hand with larger force output and load-holding capability. Furthermore, position feedback modules made of conductive elastomers are integrated and co-printed with the finger during fabrication. In this research, a hand prototype is manufactured and several experiments regarding to its characteristics and performance are conducted for evaluation. From experimental results, the soft hand achieves maximum holding weight of 1.452kg with particles and 0.8425kg without particles at same actuation pressure of 450kPa.

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“…In some processes, a bath of base material is irradiated with light, from which a component is formed by chemical reaction. These include selective laser sintering with powder [27] and stereolithography with liquid resin [28,29]. The remaining powder or resin can be reused after filtering out unintentionally reacted particles.…”

Section: Additive Production Processesmentioning

confidence: 99%

Recycling-Oriented Design in Soft Robotics

Nguyen

Seibel

2019

Actuators

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Soft robotics is a novel approach in the field of robotics. Soft robots or soft actuators are typically polymer-based and are characterized by their flexibility and adaptability, which brings new far-reaching applications. Soft robotics is currently at the peak of its research. One circumstance that is also present in this age is constant climate change; there is a demand for sustainability. This goes hand in hand with the design of products that are suitable for recycling. Today, more is expected of an engineer than just function-oriented design. This article looks at soft robotics from the point of view of sustainability. Since nature operates in cycles, the aim is to design products in such a way that they can be introduced into cycles. Three recycling cycles for products can be distinguished, which take place during production, during product use, and after product life. Within the framework of this work, special design measures are reviewed for fluidic elastomer actuators-a characteristic type of soft actuators-so that they can be integrated into the recycling process.

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Towards Behavior Design of a 3D-Printed Soft Robotic Hand

Cited by 51 publications

References 12 publications

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Large area and flexible micro-porous piezoelectric materials for soft robotic skin

Design and Automatic Fabrication of Novel Bio-Inspired Soft Smart Robotic Hands

Recycling-Oriented Design in Soft Robotics

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