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Updated: Dec 21, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

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Published on: August 2, 2016

A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities.

Alireza Mohammadi^1,2, Jim Lavranos³, Hao Zhou^2,4

¹Department of Mechanical Engineering, The University of Melbourne, Parkville, VIC, Australia.

|May 15, 2020

Summary

This summary is machine-generated.

This study presents the X-Limb, a novel soft prosthetic hand designed for practical use. It meets key requirements for amputees, demonstrating potential to enhance daily living activities for users.

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Last Updated: Dec 21, 2025

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Area of Science:

Robotics
Biomedical Engineering
Materials Science

Background:

Soft robotic hands offer advantages like lightweight and compact designs, ideal for prosthetics.
Existing soft prosthetic hand designs often fail to meet practical requirements from prosthetics research.
This gap hinders the real-world application of soft robotic hands.

Purpose of the Study:

To address the practical requirements for soft prosthetic hands, balancing performance and usability.
To develop a soft prosthetic hand that bridges the gap between current designs and real-world needs.
To create a functional and practical soft prosthetic hand for amputees.

Main Methods:

Utilized monolithic 3D printing of soft materials for fabrication.
Incorporated membrane-enclosed flexure joints in finger designs.
Implemented a synergy-based thumb motion and a cable-driven actuation system.

Main Results:

The X-Limb weighs 253g, achieves a power-grip force of 21.5N, and has a flexion speed of 1.3s.
Demonstrated 45,000 grasping cycles with maintained functionality and a bill of materials cost of $200.
Successfully passed the Activities Measure for Upper-Limb Amputees benchmark test for daily living tasks.

Conclusions:

The X-Limb satisfies practical design requirements for soft prosthetic hands.
The proposed hand prosthesis can perform all real-world grasping tasks evaluated in benchmark tests.
This soft prosthetic hand shows significant potential for improving the quality of life for individuals with upper limb loss.