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Title: Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand
Authors: Alves, Samuel 
Babcinschi, Mihail 
Silva, Afonso 
Neto, Diogo 
Fonseca, Diogo 
Neto, Pedro 
Keywords: Computer Science - Robotics
Issue Date: 2023
Publisher: American Association for the Advancement of Science
Project: UIDB/00285/2020 
2022.13512. BD 
Serial title, monograph or event: Cyborg and Bionic Systems
Volume: 4
Abstract: Machines that mimic humans have inspired scientists for centuries. Bioinspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to unstructured environments. Recent research led to impactful achievements in functional designs, modeling, fabrication, and control of soft robots. Nevertheless, the full realization of life-like movements is still challenging to achieve, often based on trial-and-error considerations from design to fabrication, consuming time and resources. In this study, a soft robotic hand is proposed, composed of soft actuator cores and an exoskeleton, featuring a multimaterial design aided by finite element analysis (FEA) to define the hand geometry and promote finger's bendability. The actuators are fabricated using molding, and the exoskeleton is 3D-printed in a single step. An ON-OFF controller keeps the set fingers' inner pressures related to specific bending angles, even in the presence of leaks. The FEA numerical results were validated by experimental tests, as well as the ability of the hand to grasp objects with different shapes, weights, and sizes. This integrated solution will make soft robotic hands more available to people, at a reduced cost, avoiding the time-consuming design-fabrication trial-and-error processes.
ISSN: 2692-7632
DOI: 10.34133/cbsystems.0051
Rights: openAccess
Appears in Collections:I&D CEMMPRE - Artigos em Revistas Internacionais

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