A Bidirectional Soft Biomimetic Hand Driven by Water Hydraulic for Dexterous Underwater Grasping

Soft robotics shows considerable promise for various underwater applications. Soft grippers as end-effectors are particularly useful for compliant and robust grasping compared to rigid mechanisms. In this work, we describe the design, fabrication and operation of a soft robotic hand driven by water...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2022-04, Vol.7 (2), p.2186-2193
Main Authors: Wang, Haihang, Xu, He, Abu-Dakka, Fares J., Kyrki, Ville, Yang, Chen, Li, Xin, Chen, Siqing
Format: Article
Language:English
Subjects:
Actuators
Automation
Bending
Biomimetics
End effectors
Fabrication
Fiber reinforced materials
Fluid flow
Grasping
Grasping (robotics)
Grippers
Hand (anatomy)
Hydraulics
Manufacturing engineering
Modulus of elasticity
multifingered hands
Palm
Robots
Soft robot applications
Soft robotics
Taxonomy
Thumb
Underwater robots
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Summary:Soft robotics shows considerable promise for various underwater applications. Soft grippers as end-effectors are particularly useful for compliant and robust grasping compared to rigid mechanisms. In this work, we describe the design, fabrication and operation of a soft robotic hand driven by water hydraulics for underwater grasping. The proposed design has, in addition to the five fingers of a human hand, an extra soft thumb arranged symmetrically in an active soft palm. The soft fingers are designed with four chambers to enable bidirectional bending and deflection motions. We propose a novel elastic fiber reinforced structure to enhance and constrain the flexion movements of three palm actuators. The versatility of the underwater robotic hand is evaluated by implementing the human grasping gestures of the Feix taxonomy. Furthermore, we present a low-cost one-camera-multiple-mirrors imaging approach for capturing the grasps from multiple viewpoints simultaneously.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3143297