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Three-Chamber Actuated Humanoid Joint-Inspired Soft Gripper: Design, Modeling, and Experimental Validation
Yinlong Zhu1, Qin Bao1, Hu Zhao1
1College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China.
Sensors (Basel, Switzerland)
|April 26, 2025
Summary
This study introduces a novel humanoid hand-inspired soft gripper with independently actuated joints. This advanced soft gripper significantly expands grasping range and quadruples grasping force compared to traditional designs.
Area of Science:
- Robotics
- Materials Science
- Biomimetics
Background:
- Traditional soft grippers face limitations like constant curvature and restricted motion.
- Human hand structure offers superior dexterity and flexibility for grasping.
Purpose of the Study:
- To design and evaluate a humanoid hand-inspired soft gripper overcoming limitations of single-chamber designs.
- To enhance grasping range, flexibility, and fingertip force through biomimetic design.
Main Methods:
- Developed a three-finger soft gripper with independently actuated soft joints and phalanges.
- Utilized a composite constraint layer (PDMS/PTFE) for enhanced stiffness and load capacity.
- Established nonlinear mathematical and D-H kinematic models; performed FEA simulations (ABAQUS).
Main Results:
- Experimental and simulation results showed good agreement.
- Achieved a maximum fingertip force of 2.21 N.
- Demonstrated a four-fold increase in grasping force and a maximum grasp weight of 0.92 kg.
Conclusions:
- The humanoid joint-inspired soft gripper offers superior grasping performance and expanded capabilities.
- The design shows significant potential for practical applications requiring versatile and robust grasping.
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