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Endoskeleton Soft Multi-Fingered Hand with Variable Stiffness.

Dayu Pan1, Peng Yan1, Yunong Li1

  • 1School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, P.R. China.

Soft Robotics
|April 18, 2024
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Summary
This summary is machine-generated.

This study introduces a novel soft robotic hand with variable stiffness for handling fragile items. Its unique design allows for adjustable stiffness, enhancing grip security for delicate and irregularly shaped objects.

Keywords:
endoskeleton mechanismfragile object graspingsoft multi-fingered handvariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotic hands offer advantages in handling delicate objects.
  • High flexibility in soft hands can limit load capacity.
  • Variable stiffness is crucial for versatile manipulation of fragile items.

Purpose of the Study:

  • To introduce a novel soft multi-fingered hand with variable stiffness capabilities.
  • To enable secure grasping and manipulation of fragile and irregularly shaped objects.
  • To address the trade-off between flexibility and load capacity in soft robotics.

Main Methods:

  • Design of a soft hand with three-chambered fingers and an embedded endoskeleton mechanism.
  • Utilizing negative air pressure in a dedicated chamber to modulate finger stiffness via friction.
  • Implementation of an endoskeleton within the stiffness-adjusting chamber.

Main Results:

  • Demonstrated successful stiffness adjustment in the soft robotic finger.
  • Validated stiffening capabilities under specific orientations.
  • Achieved robust grasping of fragile objects, including a bulb and bean curd, and lifted a heavy object.

Conclusions:

  • The proposed soft multi-fingered hand effectively achieves variable stiffness.
  • The endoskeleton-based variable stiffness mechanism enhances grasping performance for diverse fragile objects.
  • This technology shows significant potential for applications requiring delicate manipulation.