A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

Chepisheva, Mariya; Çulha, Utku; Iida, Fumiya

doi:10.1007/978-3-319-43488-9_18

Cited by 8 publications

(6 citation statements)

References 25 publications

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“…The final three examples, the DLR hand [56], Çulha hand [58] and Xu hand [42] have very different designs, but similar transmission concepts taken directly from the human finger. The DLR hand deviates the most in joint design, these have more constrained motions which are less compliant but have better precision relative to the Çulha hand, which uses anthropomorphic joints and ligaments.…”

Section: Actuator Interface/transmissionmentioning

confidence: 99%

“…Comparing the wrist-driven hand [9] and Çulha hand [58], we see how the combination of differences in bone geometry, ligament design and tendon routing can alter behaviours, which can increase or decrease performance for specific tasks. The wrist-driven hand has better passive shape adaptation, though has a lower range of joint stiffness to exploit.…”

Section: E Comparison and Design Trade-offsmentioning

confidence: 99%

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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: Actuator Interface/transmissionmentioning

confidence: 99%

Section: E Comparison and Design Trade-offsmentioning

confidence: 99%

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

2023

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“…Xu and Todorov [12] built simplified tendon sheaths by using laser-cut rubber sheets in the development of an anthropomorphic robotic hand and briefly introduced the function of the elastic tendon sheath in adjusting the moment arm of the finger joint. 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.…”

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%

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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“…One wily and dexterous human even used chopsticks to pick-pocket cellphones [14]. Researchers have adopted the general design of chopsticks for various applications, such as meal assistance [15], [16], surgery [17], micro-manipulation [18], repetitive pick-and-place [19], [20] and articulated-hand design [21]- [23]. A chopsticks-wielding robot has a potentially versatile use case to pick up objects of diverse shape, size, weight distribution, and deformation.…”

Section: Introductionmentioning

confidence: 99%

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

Kamat

Wang

et al. 2020

Preprint

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Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of scenarios requires significant adaptability. Towards developing autonomous manipulators with comparable adaptability to humans, we study chopsticks-based manipulation to gain insights into human manipulation strategies. We conduct a within-subjects user study with 25 participants, evaluating three different data-collection methods: normal chopsticks, motioncaptured chopsticks, and a novel chopstick telemanipulation interface. We analyze factors governing human performance across a variety of challenging chopstick-based grasping tasks. Although participants rated teleoperation as the least comfortable and most difficult-to-use method, teleoperation enabled users to achieve the highest success rates on three out of five objects considered. Further, we notice that subjects quickly learned and adapted to the teleoperation interface. Finally, while motion-captured chopsticks could provide a better reflection of how humans use chopsticks, the teleoperation interface can produce quality on-hardware demonstrations from which the robot can directly learn.

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A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

Cited by 8 publications

References 25 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

Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations

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