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

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.