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

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Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump.

Yeunhee Kim¹, Youngsu Cha¹

¹Center for Intelligent & Interactive Robotics, Korea Institute of Science and Technology, Seoul, South Korea.

Frontiers in Bioengineering and Biotechnology

|June 18, 2020

Summary

This study introduces a novel soft pneumatic gripper. It utilizes a tendon-driven origami pump, eliminating the need for an external air compressor for soft actuators.

Keywords:

biomimetics origami soft gripper soft pump soft robotics

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Pneumatic soft actuators are widely used in robotics.
Traditional systems rely on bulky external air compressors.
There is a need for compact, integrated actuation systems.

Purpose of the Study:

To develop a soft pneumatic gripper with an integrated, compressor-less actuation system.
To evaluate the performance of a tendon-driven soft origami pump for controlling soft actuators.
To demonstrate the gripper's capability in grasping diverse objects.

Main Methods:

Fabrication of silicone-based soft actuators with chamber structures.
Construction of a tendon-driven origami pump using Kresling patterned polypropylene film.
Experimental analysis of movement characteristics, frequency response, blocking force, and bending angle-pressure relationship.

Main Results:

The origami pump effectively replaces external air compressors for pneumatic soft actuators.
Detailed performance metrics including movement, frequency response, and force were characterized.
The operational mechanism linking origami pump deformation to actuator bending was elucidated.

Conclusions:

The proposed soft pneumatic gripper is a feasible, independent module.
The tendon-driven origami pump offers a compact and efficient alternative to traditional compressors.
The system demonstrates versatility in grasping various objects.