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

Wang, Haihang; Xu, He; Abu‐Dakka, Fares J.; Kyrki, Ville; Yang, Chen; Li, Xin; Chen, Siqing

doi:10.1109/lra.2022.3143297

Cited by 21 publications

(14 citation statements)

References 24 publications

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“…By adjusting the position of the soft gripper on the flange, it can grasp objects of different sizes. Similarly, a six-finger palm gripper driven by water hydraulics is designed, [58,60] and arranged in the active soft palm. The hand successfully achieved all grasp types of the Feix taxonomy in the underwater environment.…”

Section: Multi-finger Grippersmentioning

confidence: 99%

Advanced Technologies and Applications of Robotic Soft Grippers

Qu,

Yu,

Tang

et al. 2024

Adv Materials Technologies

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The robotic soft gripper is a significant and expanding area of study. It is primarily a unique gadget that interacts with the external environment in a certain actuating mode by utilizing the properties of flexible materials and biological shape design. Robotic grippers are increasingly needed in the fields of medical operations, auxiliary maintenance, land rescue, underwater grasping, and space manipulation due to the increasing demand for automation. However, conventional rigid gripper is not the ideal option or optimal design for particular activities requiring a high degree of adaptation and interaction. The soft gripper can interact with its surroundings safely and flexibly because it is comprised of flexible materials. Currently, certain technical system has been developed through research on flexible grippers, but it is still in its infancy. This paper reviews the materials and manufacturing technology, actuating technology, and sensing and control technology of flexible mechanical grippers. Finally, several main application areas of soft grippers are discussed from a technical point of view, as well as possible challenges for further development.

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Section: Multi-finger Grippersmentioning

confidence: 99%

Advanced Technologies and Applications of Robotic Soft Grippers

Qu,

Yu,

Tang

et al. 2024

Adv Materials Technologies

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“…Due to the nonsymmetric arrangement of fingers, hand grippers have the capability to grasp two objects simultaneously using a pair of fingers. [21,86] Similar to the finger configuration, both soft fluidic and mechanical actuators can be designed to work with this hand configuration.…”

Section: Grasping Configurationsmentioning

confidence: 99%

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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“…The soft robotic hand used in this study was based on our previous work [17], which works in underwater environment and is able to achieve bidirectional grasping. During bidirectional grasping, the image from single view can not fully present and collect comprehensive hand grasp information.…”

Section: D Imaging System a Experimental Apparatusmentioning

confidence: 99%

Biomimetic Evaluation of an Underwater Soft Hand Through Deep Learning-based 3D Pose Reconstruction

Wang¹,

He²,

Yuan³

2022

Preprint

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Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose reconstruction approach to analyze the grasping motion of a bidirectional soft robotic hand using experiment videos. The images from top, front, back, left, right view were collected using an one-camera-multiple-mirror imaging device. The coordinate and orientation information of soft fingers are detected based on deep learning methods. Faster RCNN model is used to detect the position of fingertips, while U-Net model is applied to calculate the side boundary of the fingers. Based on the kinematics, the corresponding coordinate and orientation databases are established. The 3D pose reconstructed result presents a satisfactory performance and good accuracy. Using efficacy coefficient method, the finger contribution of the bending angle and distance between fingers of soft robot hand is analyzed by compared with that of human hand. The results show that the soft robot hand perform a human-like motion in both single-direction and bidirectional grasping.

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

Cited by 21 publications

References 24 publications

Advanced Technologies and Applications of Robotic Soft Grippers

Advanced Technologies and Applications of Robotic Soft Grippers

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Biomimetic Evaluation of an Underwater Soft Hand Through Deep Learning-based 3D Pose Reconstruction

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