Soft robotic hands can be used to manipulate delicate parts. The use of under-actuated fingers can significantly reduce the number of actuators and the complexity of the hand structure. This in turn can lower the cost of realizing robotic hands. This paper presents a new design for a multi-fingered soft hand for robotic applications. We adapt the fusible core molding process to realize complex inner cavities needed in pneumatically-actuated fingers. We also introduce a method for predicting the finger motion using pseudo-rigid-body model. We demonstrate that the soft hand can achieve the desired shapes and apply the required forces in tasks such as handling, grasping, pinching, clipping, and fastening.
Design, Manufacturing, and Characterization of a Pneumatically-Actuated Soft Hand
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Zhao, L, & Gupta, SK. "Design, Manufacturing, and Characterization of a Pneumatically-Actuated Soft Hand." Proceedings of the ASME 2018 13th International Manufacturing Science and Engineering Conference. Volume 3: Manufacturing Equipment and Systems. College Station, Texas, USA. June 18–22, 2018. V003T02A004. ASME. https://doi.org/10.1115/MSEC2018-6622
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