Mechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges to determine a flexure hinge morphology, which generates large displacements under a lowest possible force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modeling, a low-cost 3D printing technique, was used to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a nonsymmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low-cost candidates for establishing soft and one-piece prosthetic hands with light weight. A three-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products. AbstractMechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges in order to determine flexure hinge morphology which generates larger displacements under the lowest force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modelling (FDM), a low cost 3D printing technique, was used in order to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a non-symmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low cost candidates for establishing soft and one-piece prosthetic hands with light weight. A 3-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products.
Soft robotic hands with monolithic structure have shown great potential to be used as prostheses due to their advantages to yield light weight and compact designs as well as its ease of manufacture. However, existing soft prosthetic hands design were often not geared towards addressing some of the practical requirements highlighted in prosthetics research. The gap between the existing designs and the practical requirements significantly hampers the potential to transfer these designs to real-world applications. This work addressed these requirements with the consideration of the trade-off between practicality and performance. These requirements were achieved through exploiting the monolithic 3D printing of soft materials which incorporates membrane enclosed flexure joints in the finger designs, synergy-based thumb motion and cable-driven actuation system in the proposed hand prosthesis. Our systematic design (tentatively named X-Limb) achieves a weight of 253gr, three grasps types (with capability of individual finger movement), power-grip force of 21.5N, finger flexion speed of 1.3sec, a minimum grasping cycles of 45,000 (while maintaining its original functionality) and a bill of material cost of 200 USD (excluding quick disconnect wrist but without factoring in the cost reduction through mass production). A standard Activities Measure for Upper-Limb Amputees benchmark test was carried out to evaluate the capability of X-Limb in performing grasping task required for activities of daily living. The results show that all the practical design requirements are satisfied, and the proposed soft prosthetic hand is able to perform all the real-world grasping tasks of the benchmark tests, showing great potential in improving life quality of individuals with upper limb loss.
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