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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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A Soft Robotic Gripper Based on Bioinspired Fingers.

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    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
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    Summary

    This study introduces a novel soft robotic gripper with modular anthropomorphic fingers, significantly enhancing dexterity. The advanced design enables complex in-hand manipulations previously unattainable with traditional soft grippers.

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    Area of Science:

    • Robotics
    • Mechanical Engineering
    • Biomimetic Design

    Background:

    • Traditional soft grippers often lack dexterity due to limited actuators and modeling complexities.
    • Achieving human-like finger motion in soft robotics has been a significant challenge.

    Purpose of the Study:

    • To develop a highly dexterous soft robotic gripper with modular anthropomorphic fingers.
    • To investigate the kinematic capabilities and workspace of the proposed finger design.
    • To demonstrate the gripper's ability to perform precision grasps and in-hand manipulations.

    Main Methods:

    • Designed modular anthropomorphic fingers actuated by four linear drivers each.
    • Implemented piecewise constant curvature kinematic modeling to analyze finger workspace.
    • Constructed a gripper prototype with two modular fingers.
    • Tested dexterity and strength through various grasping and manipulation tasks.

    Main Results:

    • The proposed finger exhibits an ellipsoidal shell workspace, similar to human fingers.
    • The gripper successfully performed precision grasps.
    • The gripper demonstrated three types of in-hand manipulations previously not feasible.
    • The modular design allows for enhanced dexterity with relatively simple control schemes.

    Conclusions:

    • The novel soft robotic gripper offers unprecedented dexterity and manipulation capabilities.
    • The modular anthropomorphic finger design overcomes previous limitations in soft gripper actuation.
    • This advancement paves the way for more sophisticated soft robotic applications requiring fine motor skills.