BCL-13: A 13-DOF Soft Robotic Hand for Dexterous Grasping and In-Hand Manipulation

Zhou, Jianshu; Yi, Juan; Chen, Xiaojiao; Liu, Zixie; Wang, Zheng

doi:10.1109/lra.2018.2851360

Cited by 128 publications

(93 citation statements)

References 27 publications

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“…Due to the symmetric property of the mechanism, the equations for link BA (the first phalanx) and AH can be concluded, as shown in Equation 9and (10).…”

Section: Dynamicsmentioning

confidence: 99%

“…As for the redundant hand and full-actuated hand, each joint DOF is driven by at least one actuator, and the gesture and movement of the finger joints can be controlled in a precise way. The redundant and full-actuated design methodology are widely used in the field of dexterous hands and many outstanding dexterous hands have been developed and studied, such as Utah/MIT hand [8], NTU hand [9], BCL-13 hand [10], and TUAT/Karlsruhe hand [11]. These dexterous hands can perform complex gestures and accomplish complex grasping tasks.…”

Section: Introductionmentioning

confidence: 99%

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VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

Luo

Zhang

2019

Applied Sciences

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Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects on a flat surface. In order to overcome the bottleneck of traditional hands and enlarge the application possibility of robot hands, this paper develops a novel hybrid grasping modes hand with the variable geometrical structure (called VGS hand). The hand consists of 4-DOF (degree of freedom), two actuators and two fingers. It can perform both linear-parallel and self-adaptive grasping modes. Kinematics, dynamics, and contact forces analysis are conducted to provide a theoretical reference for the design. A prototype was manufactured for grasping experiments; the results of the experiments indicate that the hand has a good grasping performance and can meet different application requirements.

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“…Due to the symmetric property of the mechanism, the equations for link BA (the first phalanx) and AH can be concluded, as shown in Equation 9and (10).…”

Section: Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

Luo

Zhang

2019

Applied Sciences

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“…The emerging field of soft robotics [19][20][21] that combines the compliance of human skin and muscle with simple design and fabrication of lightweight elastomeric components may open a promising avenue for future neuroprosthetic hands. Although many bioinspired soft robotic systems such as locomotive robots 22 , finger-like actuators [23][24][25][26] , robotic exoskeletons [27][28][29] and hands [30][31][32][33][34] have been developed, to the best of our knowledge, none of them has been demonstrated as functional neuroprosthetic hands on upper-limb amputees (Extended Data Table 1).…”

Section: Introductionmentioning

confidence: 99%

Lightweight soft neuroprosthetic hand

Gu¹,

Zhang²,

Xu³

et al. 2020

Preprint

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Mainly composed of electrical motors and sophisticated mechanical components, existing neuroprosthetic hands1,2 are typically heavy (>400 g) and expensive (>USD 10,000), and they lack the compliance and tactile feedback of human hands. These limitations hamper neuroprosthetic hands’ innovation and broad utility for amputees3-5. Here we report the design, fabrication and applications of a lightweight (292 g) and potentially low-cost (component cost below USD 500) soft neuroprosthetic hand with simultaneous myoelectric control and tactile feedback. The soft neuroprosthetic hand consists of five soft fingers and a palm to give six active degrees of freedom under pneumatic actuation, four electromyography sensors that measure the surface electromyogram signals to control the hand to deliver four common grasp types, and five hydrogel-elastomer capacitive sensors on the fingertips that measure the touch pressure and elicit electrical stimulation on the skin of the residual limb. The soft finger is made of a fiber-reinforced elastomeric structure embedded with rigid segments to mimic the soft-joint/rigid-bone anatomy of the human finger. We use a set of standardized tests6 to compare the speed and dexterity of the soft neuroprosthetic hand and a conventional rigid neuroprosthetic hand7 on two transradial amputees. The soft neuroprosthetic hand gives overall superior performances to the rigid hand. We further demonstrate that one transradial amputee wearing the soft neuroprosthetic hand can regain the versatile hand functions with primitive touch sensation and real-time closed-loop control in daily activities such as handling tools, eating, shaking hands, petting animals, and recognizing touch pressure. This work not only represents a new paradigm for designing soft neuroprosthetic devices but also opens an avenue to widespread applications of lightweight, low-cost, and compliant hand replacements for amputees.

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“…Recent developments in soft robotics have demonstrated how compliant materials can be harnessed to drive advances in robotic manipulation. From gentle [1] and universal [2] object handling to complex, bioinspired actuation motifs [3]- [6], soft robotic manipulators have demonstrated unique capabilities compared to traditional rigid manipulators [7]. Soft manipulators have widespread potential for future use in automated assembly and packaging, prosthetic devices [8], conservation [9], extreme environments, and much more [7], [10], [11].…”

Section: Introductionmentioning

confidence: 99%

“…Fabricating FEA-based soft robots with integrated sensors and multi-DOF actuation requires many steps. Prior work has used molding techniques to make soft quadrupeds [16], swimming fish [17], tentacle-like actuators [4], and hand-like manipulators [6], [18] with several DOF. By contrast, 3D printing offers a promising approach for rapidly designing and fabricating complex soft actuators [19].…”

Section: Introductionmentioning

confidence: 99%

Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation

Truby

Katzschmann

Lewis

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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Soft robotic grippers enable gentle, adaptive, and bioinspired manipulation that is simply not possible using traditional rigid robots. However, it has remained challenging to create multi-degree-of-freedom soft actuators with appropriate sensory capabilities for soft manipulators requiring greater dexterity and closed-loop control. In this work, we use embedded 3D printing to produce soft robotic fingers with discrete actuation modes and integrated ionogel soft sensors that provide proprioceptive and tactile sensing corresponding to each degree of freedom. With new readout electronics that streamline the measurement of sensor resistance, we evaluate the fingers' sensory feedback through free and blocked displacement experiments. We integrate three of our sensorized fingers together to create a soft manipulator with different grasping poses. Finally, we showcase the importance of the fingers' discrete actuation modes and integrated sensors via a closed-loop grasping study. Our methods demonstrate an enabling manufacturing platform that can be adapted to create other soft multi-DOF manipulators requiring somatosensory feedback for a variety of closed-loop and machine learningbased control algorithms.

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BCL-13: A 13-DOF Soft Robotic Hand for Dexterous Grasping and In-Hand Manipulation

Cited by 128 publications

References 27 publications

VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure

Lightweight soft neuroprosthetic hand

Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation

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