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Modular Bioinspired Hand with Multijoint Rigid-Soft Finger Possessing Proprioception.

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  • 1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.

Soft Robotics
|November 1, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces modular dexterous robotic hands with soft joints and embedded sensors for improved grasping of delicate objects. These novel soft robot hands offer enhanced adaptability and control, overcoming limitations of previous designs.

Keywords:
multijoint fingerproprioceptionquasi-jointrigid-soft handsoft sensor

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Area of Science:

  • Robotics
  • Soft Robotics
  • Biomimetic Design

Background:

  • Soft robot hands offer superior adaptability for grasping soft and fragile objects compared to rigid designs.
  • Existing soft hands face limitations in degrees of freedom, force output, proprioception, and controllability.

Purpose of the Study:

  • To propose modular dexterous robotic hands inspired by human anatomy, integrating soft joints, rigid skeletons, and soft curvature sensors.
  • To enhance proprioception and controllability in soft robotic hands through embedded sensors and closed-loop control.

Main Methods:

  • Developed modular fingers with three quasi-joints, including metacarpophalangeal and interphalangeal soft-joints.
  • Integrated Indium Gallium Alloy sensors with Kelvin Bridge for accurate joint angle detection and proprioception.
  • Proposed a kinematics and statics modeling method for rigid-soft fingers.
  • Developed three-fingered and five-fingered hand prototypes.

Main Results:

  • The developed hands demonstrated adaptive grasping and dexterous manipulation capabilities.
  • The three-fingered hand achieved a force output of up to 31.82 N.
  • The five-fingered hand successfully performed 32 different grasp types.

Conclusions:

  • The proposed modular dexterous hands overcome limitations of traditional soft robots, offering improved performance.
  • The integration of soft joints, rigid structures, and proprioceptive sensing enables advanced robotic hand functionality.