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Article: Novel Bionic Soft Robotic Hand With Dexterous Deformation and Reliable Grasping

TitleNovel Bionic Soft Robotic Hand With Dexterous Deformation and Reliable Grasping
Authors
KeywordsBioinspired
grasping demonstration
robotic hand
soft gripper
variable stiffness
Issue Date23-Feb-2023
PublisherInstitute of Electrical and Electronics Engineers
Citation
IEEE Transactions on Instrumentation and Measurement, 2023, v. 72 How to Cite?
Abstract

Bionic soft robotic hand has been developed rapidly, as it can achieve considerable flexibility and mimic human hand to perform actions, such as grasping. This study develops a novel bionic soft robotic hand, which consists of a palm and five fingers that can operate independently. Unlike other soft hands, the fingers of the developed soft robotic hand are capable of stretching and bending. The thumb can mimic the joint activities of human thumb. An air chamber is placed on the back of robotic hand to mimic the elongation of muscles on the back of human hand. As such, the curvature of the palm can be changed. A particle jamming method is used in the hand palm to achieve passive variable stiffness during grasping, which improves the grasping stability of the bionic hand and the ability of wrapping target objects. Grasping experiments are conducted to evaluate and validate the grasping performance of the developed soft robotic hand. The experimental results show that the developed soft hand can effectively grasp sheet, columnar, and irregular objects when the driving pressure of finger and hand back is 50 and 40 kPa, respectively. The maximum grasping mass is comparable to the mass of the soft robotic hand.


Persistent Identifierhttp://hdl.handle.net/10722/331428
ISSN
2023 Impact Factor: 5.6
2023 SCImago Journal Rankings: 1.536
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorRen, T-
dc.contributor.authorLi, YJ-
dc.contributor.authorLiu, QY-
dc.contributor.authorChen, YH-
dc.contributor.authorYang, SX-
dc.contributor.authorYuan, HY-
dc.contributor.authorLi, YQ-
dc.contributor.authorYang, Y-
dc.date.accessioned2023-09-21T06:55:38Z-
dc.date.available2023-09-21T06:55:38Z-
dc.date.issued2023-02-23-
dc.identifier.citationIEEE Transactions on Instrumentation and Measurement, 2023, v. 72-
dc.identifier.issn0018-9456-
dc.identifier.urihttp://hdl.handle.net/10722/331428-
dc.description.abstract<p>Bionic soft robotic hand has been developed rapidly, as it can achieve considerable flexibility and mimic human hand to perform actions, such as grasping. This study develops a novel bionic soft robotic hand, which consists of a palm and five fingers that can operate independently. Unlike other soft hands, the fingers of the developed soft robotic hand are capable of stretching and bending. The thumb can mimic the joint activities of human thumb. An air chamber is placed on the back of robotic hand to mimic the elongation of muscles on the back of human hand. As such, the curvature of the palm can be changed. A particle jamming method is used in the hand palm to achieve passive variable stiffness during grasping, which improves the grasping stability of the bionic hand and the ability of wrapping target objects. Grasping experiments are conducted to evaluate and validate the grasping performance of the developed soft robotic hand. The experimental results show that the developed soft hand can effectively grasp sheet, columnar, and irregular objects when the driving pressure of finger and hand back is 50 and 40 kPa, respectively. The maximum grasping mass is comparable to the mass of the soft robotic hand.</p>-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relation.ispartofIEEE Transactions on Instrumentation and Measurement-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectBioinspired-
dc.subjectgrasping demonstration-
dc.subjectrobotic hand-
dc.subjectsoft gripper-
dc.subjectvariable stiffness-
dc.titleNovel Bionic Soft Robotic Hand With Dexterous Deformation and Reliable Grasping-
dc.typeArticle-
dc.identifier.doi10.1109/tim.2023.3248098-
dc.identifier.scopuseid_2-s2.0-85149384493-
dc.identifier.volume72-
dc.identifier.eissn1557-9662-
dc.identifier.isiWOS:000955971400014-
dc.identifier.issnl0018-9456-

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