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

Haihang Wang, He Xu*, Fares Abu-Dakka*, Ville Kyrki, Chen Yang, Xin Li, Siqing Chen

*Tämän työn vastaava kirjoittaja

Tutkimustuotos: LehtiartikkeliArticleScientificvertaisarvioitu

20 Sitaatiot (Scopus)
415 Lataukset (Pure)

Abstrakti

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.

AlkuperäiskieliEnglanti
Artikkeli9682546
Sivut2186-2193
Sivumäärä8
JulkaisuIEEE Robotics and Automation Letters
Vuosikerta7
Numero2
Varhainen verkossa julkaisun päivämäärä14 tammik. 2022
DOI - pysyväislinkit
TilaJulkaistu - 1 huhtik. 2022
OKM-julkaisutyyppiA1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä

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