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Soft Robotic Finger with Energy-Coupled Quadrastability.

Zijie Sun1,2, Tianqi Jiang1, Zhenyu Wang1

  • 1State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing, China.

Soft Robotics
|August 30, 2023
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Summary
This summary is machine-generated.

This study introduces a novel soft robotic finger, the tendon pulley quadrastable (TPQ) finger, mimicking human dexterity. It achieves rapid actuation, high payload capacity, and versatile grasping for soft robotics applications.

Keywords:
fast actuationhigh force graspingpassive sensingpreplanned trajectoryquadrastable soft robotic fingertunable joint energy barrier

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Area of Science:

  • Robotics
  • Soft Robotics
  • Biomimetic Design

Background:

  • Human finger performance inspires advanced soft robotic fingers.
  • Current soft grippers excel in specific tasks but lack human-like versatility.
  • Achieving high speed, broad grasping range, sensing, and variable load capacity simultaneously remains a challenge.

Purpose of the Study:

  • To develop a soft robotic finger with all-around performance comparable to a human finger.
  • To introduce a novel tendon pulley quadrastable (TPQ) finger design.
  • To enable high-speed, high-force, delicate, and complex grasping tasks.

Main Methods:

  • Utilized elastic tendons as the sole energy reservoir for energy-coupled quadrastability.
  • Developed an energy model to analyze and predict finger behavior.
  • Incorporated a soft lever mechanism for sensing capabilities and energy barrier adjusting plates for sensitivity control.
  • Leveraged mechanical instability for enhanced actuation speed and utilized four stable states for preplanned trajectories and multiple grasping manners.

Main Results:

  • The TPQ finger demonstrated rapid response, completing grasping tasks in 31 ms.
  • Achieved a maximum payload capacity of 33.25 kg.
  • Successfully grasped fragile objects (rose), thin objects (nut, card), and large objects (football), showcasing a wide grasping range.

Conclusions:

  • The TPQ finger successfully integrates high speed, high force, sensing, and a wide grasping range.
  • This design overcomes limitations of existing soft grippers, offering human-like dexterity.
  • The TPQ finger represents a significant advancement in soft robotic manipulation capabilities.