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

Abstract

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.

Advanced Technologies and Applications of Robotic Soft Grippers

“…By adjusting the position of the soft gripper on the flange, it can grasp objects of different sizes. Similarly, a six-finger palm gripper driven by water hydraulics is designed, [58,60] and arranged in the active soft palm. The hand successfully achieved all grasp types of the Feix taxonomy in the underwater environment.…”