A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation.

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-03-14 DOI:10.1089/soro.2023.0099
Wookeun Park, Seongjin Park, Hail An, Minho Seong, Joonbum Bae, Hoon Eui Jeong
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Abstract

Soft robotic grippers excel at achieving conformal and reliable contact with objects without the need for complex control algorithms. However, they still lack in grasp and manipulation abilities compared with human hands. In this study, we present a sensorized multi-fingered soft gripper with bioinspired adhesive fingertips that can provide both fingertip-based adhesion grasping and finger-based form closure grasping modes. The gripper incorporates mushroom-like microstructures on its adhesive fingertips, enabling robust adhesion through uniform load shearing. A single fingertip exhibits a maximum load capacity of 4.18 N against a flat substrate. The soft fingers have multiple joints, and each joint can be independently actuated through pneumatic control. This enables diverse bending motions and stable grasping of various objects, with a maximum load capacity of 28.29 N for three fingers. In addition, the soft gripper is equipped with a kirigami-patterned stretchable sensor for motion monitoring and control. We demonstrate the effectiveness of our design by successfully grasping and manipulating a diverse range of objects with varying shapes, sizes, and curvatures. Moreover, we present the practical application of our sensorized soft gripper for remotely controlled cooking.

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用于多模式抓取和操纵的带粘合剂指尖的传感软机器手
软体机器人抓手无需复杂的控制算法就能实现与物体的保形和可靠接触。然而,与人手相比,它们在抓取和操纵能力方面仍有不足。在这项研究中,我们提出了一种带有生物启发粘合指尖的传感多指软抓手,它既能提供基于指尖的粘合抓取模式,也能提供基于手指的形态闭合抓取模式。该抓手的粘合指尖具有蘑菇状微结构,可通过均匀载荷剪切实现强力粘附。单个指尖对平面基底的最大负载能力为 4.18 N。软手指有多个关节,每个关节都可以通过气动控制进行独立驱动。这样就能实现各种弯曲动作,并稳定地抓取各种物体,三个手指的最大承重能力为 28.29 N。此外,软抓手还配备了一个叽里咕噜图案的可拉伸传感器,用于运动监测和控制。我们成功地抓取和操纵了各种形状、大小和曲率各异的物体,证明了我们设计的有效性。此外,我们还介绍了传感软抓手在遥控烹饪中的实际应用。
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