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Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger

Shumi Zhao1, Yisong Lei2, Ziwen Wang2

  • 1Hefei Comprehensive National Science Center, Institute of Artificial Intelligence, Hefei 230026, China.

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A novel soft robotic finger using multi-material pneumatic actuators mimics human finger motion. This biomimetic artificial joint design achieves precise bending for realistic action mimicking.

Keywords:
biomimetic artificial jointsmathematical modelmulti-material actuatorpneumatic bellowssoft robotic finger

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Area of Science:

  • Robotics
  • Materials Science
  • Biomechanics

Background:

  • Developing soft robotic hands requires artificial joints that mimic human anatomical ranges.
  • Existing robotic actuators often lack the dexterity and compliance needed for naturalistic movement.

Purpose of the Study:

  • To design and develop a multi-material pneumatic actuator for a soft robotic finger.
  • To achieve precise daily finger bending motions mimicking human anatomy.
  • To validate the actuator's feasibility through theoretical and experimental analysis.

Main Methods:

  • Designed a soft robotic finger with multi-material pneumatic actuators.
  • Utilized two composite materials with different shear modules for biomimetic artificial joints.
  • Employed a simplified mathematical model for mechanism description and design guidance.
  • Fabricated pneumatic bellows restricted by a polydimethylsiloxane (PDMS) frame.

Main Results:

  • The soft robotic finger achieved a full motion range (MCP = 36°, PIP = 114°, DIP = 75°) at over 70 kPa actuation pressure.
  • The mathematical model guided actuator fabrication, structural design, and control parameter optimization.
  • Theoretical and experimental results demonstrated the actuator's feasibility for finger action mimicking.

Conclusions:

  • A multi-material pneumatic actuator was successfully designed and developed for soft robotic finger applications.
  • The study provides evidence-based parameters for pneumatic robotic finger design and precise control.
  • The developed actuator serves as a viable biomimetic artificial joint for mimicking human finger actions.