3D Printing an Assembled Biomimetic Robotic Finger

Tebyani, Maryam; Robbins, Ash; Asper, William; Kurniawan, Sri; Teodorescu, Mircea; Wang, Zhongkui; Hirai, Shinichi

doi:10.1109/ur49135.2020.9144774

Cited by 5 publications

(4 citation statements)

References 15 publications

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“…For the second challenge, and similar cases where simulation is unfeasible, rapid design iteration is a potential solution. We have seen some incremental improvements in rapid hand design and fabrication, such as digital 3d printing of rigid and soft plastics [13], [77] and design principles for soft/rigid hybrid structures [78]. To make a significant breakthrough requires a greater paradigm shift, combining 4d printing approaches [79], computational design and rapid physical design iteration [77] for optimisation, encoding and fabrication of passive behaviours.…”

Section: B Improving and Exploiting Passive Designmentioning

confidence: 99%

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

2023

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Robotic hands have long strived to reach the performance of human hands. The physical complexity and extraordinary capabilities of the human hand, in terms of sensing, actuation and cognitive abilities, makes achieving this goal challenging. At the heart of the physical structure of the hand is its' passive behaviours. Seen most clearly in soft robotic hands, these behaviours influence and affect the mechanical, sensing and control functionalities. With this perspective, we present a framework through which passivity in robot hands can be understood, by concretely identifying the role of passivity in the design, fabrication and control of soft hands. In this framework we focus on the interactions between the physical hand and the: environment, internal actuation, sensor morphology and wrist control. Taking these surrounding systems away, we are left with a passive soft hand whose behaviours emerge from external interactions. Inspired by the human hand, we define the role of these four key interacting pillars and review how state-of-the art robot hands utilize these four elements to aid functionality. We show how these pillars promote hybrid soft-rigid hands with rich behaviours, providing benefits in terms of the increased adaptability to uncertain environments, improved scalability and reduction in the cost of actuation, sensing and control. This review provides a conceptual framework for approaching hand design and analysis through consideration of the passive behaviours. This highlights not only the advances that can be made by approaching the problem in this way, but also the outstanding challenges that stem from this outlook.

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Section: B Improving and Exploiting Passive Designmentioning

confidence: 99%

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

2023

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“…In other biomimetic robotic hand designs, Chepisheva et al [13] used PTFE tubes as tendon pulleys, and Mohd Faudzi et al [14] used polyethylene tubes as tendon sheaths, which were both made from rigid materials. Tebyani et al [15] printed the tendon sheaths together with the bones by using some flexible printing materials. Though researchers have attempted to adopt the tendon sheath structure of human fingers in the design of robotic hands, no detailed study has been conducted to investigate how the flexible tendon sheath influences the fingertip force-velocity characteristics, no matter on human hands or robotic hands.…”

Section: Related Workmentioning

confidence: 99%

“…The recent robotic hands with elastic joints often used rubber-like materials or springs, which traded away high joint stiffness for enhancing hand dexterity [30], [31]. The variable joint stiffness could have been potentially well achieved and demonstrated in the biomimetic ligamentous joint design in several anthropomorphic robotic hands [12], [13]- [15], [19], but no sufficient study or evidence has been presented. As for the function of the extensor mechanism, a few novel biomimetic robotic hands tended to adopt the extensor mechanism structure [12], [14], [22], [32].…”

Section: A Biomechanical Advantagesmentioning

confidence: 99%

“…Likewise, a number of tendon-driven robotic hands adopted the design of tendon sheaths or pulleys, but most of these robotic hands made this structure rigid only for guiding the tendon routes [13], [14], [24], [25], [33], [34]. Some bioinspired robotic hands used flexible tendon sheaths so as to highly mimic the human hand structure [12], [15]. These flexible tendon sheaths did help improve the performance of robotic hands, but no detailed analysis, investigation or verification were addressed.…”

Section: A Biomechanical Advantagesmentioning

confidence: 99%

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An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

et al. 2023

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The human hand has a fantastic ability to interact with various objects in the dynamic unstructured environment of our daily activities. We believe that this outstanding performance benefits a lot from the unique biological features of the hand musculoskeletal system. In Part I of this paper, a bio-inspired anthropomorphic robotic finger was developed, based on which two human-finger-like biomechanical advantages were elaborately investigated, including the anisotropic variable stiffness associated with the ligamentous joints and the enlarged feasible force space associated with the reticular extensor mechanisms. In Part II, the fingertip force-velocity characteristics resulting from the flexible tendon sheath are studied. It indicates that the fingertip force-velocity workspace can be greatly augmented owing to the self-adaptive morphing of the flexible tendon sheaths, showing the average improvement of 41.2% theoretically and 117.5% experimentally compared with the results of 2 mm, 4 mm and 6 mm size rigid tendon sheaths. Grasping tests and comparisons are then conducted with four three-fingered robotic hands (one with the robotic finger proposed in Part I, one with hinge joints, one with linear extensors, and one with rigid tendon sheaths) and the human hands of six subjects to handle various objects on flat, rough and soft surfaces. The results show that the novel bio-inspired design in this research could improve the grasping success rates of the robotic hand. Compared with the grasping test results from the robotic hand with the bioinspired robotic finger proposed in Part I, the overall grasping performance of a robotic hand with hinge joints, linear extensors, and rigid tendon sheaths decreases by 10%, 6%, and 17%, respectively. The results have also shown that with the embedded biomechanical advantages, even without complex control and sensory systems, the robotic fingers can achieve very comparable performance to human fingers in the grasping demonstrations

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Application-Oriented Comparison of Two 3D Printing Processes for the Manufacture of Pneumatic Bending Actuators for Bioinspired Macroscopic Soft Gripper Systems

Kappel

Kramp

Speck

et al. 2022

Biomimetic and Biohybrid Systems

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3D Printing an Assembled Biomimetic Robotic Finger

Cited by 5 publications

References 15 publications

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

Application-Oriented Comparison of Two 3D Printing Processes for the Manufacture of Pneumatic Bending Actuators for Bioinspired Macroscopic Soft Gripper Systems

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