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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
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Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design.
Kieran Gilday1, Josie Hughes2, Fumiya Iida1
1Department of Engineering, University of Cambridge, Cambridge, United Kingdom of Great Britain and Northern Ireland.
Soft Robotics
|June 16, 2022
Summary
This study introduces a framework to understand passivity in robot hands, focusing on how passive behaviors enhance soft robotic hand design, fabrication, and control for improved functionality.
Area of Science:
- Robotics and Mechanical Engineering
- Biomimicry in Robotics
Background:
- Human hands exhibit complex passive behaviors crucial for their dexterity.
- Replicating human hand performance in robotic hands remains a significant challenge.
Approach:
- Introduces a framework analyzing passivity in soft robotic hands.
- Focuses on interactions between the hand and environment, actuation, sensors, and wrist control.
- Reviews current robotic hand designs through this passivity-centric lens.
Key Points:
- Passive behaviors are central to soft robotic hand functionality.
- The framework highlights four key interaction pillars: environment, actuation, sensor morphology, and wrist control.
- Hybrid soft-rigid designs benefit from these pillars, enhancing adaptability and reducing costs.
Conclusions:
- Passive behaviors offer a new perspective for robotic hand design and analysis.
- Considering passivity reveals opportunities for advancement and identifies remaining challenges.
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