Configuration Design and Verification of Soft-rigid Hybrid Hand with ab/ adduction Movement

Abstract

Dexterous hand, as robot end effecter, is gradually showing unparalleled potential. In this paper, we proposed a novel configuration for the movement of the robot thumb metacarpal joint. Then, the force transfer efficiency of the finger structure is analyzed to reduce the demand for motor torque and realize the integration of ten motors inside the palm. Additionally, With the help of a soft-rigid hybrid palm, the contact area of the grasping object and the load capacity has increased considerably. Finally, the integrated verification is carried out on the home-made service robot, which can obtain reliable grasping of objects of various shapes and different surface features. What’s more, the robotic hand flexibly operates the infrared thermometer to measure the temperature of the water in the cup which shows a great application prospect in the field of service and industry.

Design and Optimization of a Magnetic Field Exciter for Controlling Magnetorheological Fluid in a Hybrid Soft-Rigid Jaw Gripper

“…They are designed to integrate the advantages of both approaches into a single versatile device with enhanced structural adaptation properties and the ability to manipulate a wide range of objects in terms of shape, size, and mass. One approach is to use silicone soft pads in the classic hand prosthesis structure [7]. Another solution studied is the use of air-filled membranes that provide softness to the jaw [8].…”