Index Finger of a Human-Like Robotic Hand Using Thin Soft Muscles

Faudzi, Ahmad Athif Mohd; Ooga, Jun'ichiro; Goto, Tatsuhiko; Takeichi, Masashi; Suzumori, Koichi

doi:10.1109/lra.2017.2732059

Cited by 71 publications

(39 citation statements)

References 20 publications

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“…Al Abeach et al employed elongating and contracting McKibben muscles in an antagonistic configuration, achieving a force of 10N at 400 kPa. The use of multifilament McKibben actuators (measured contraction force of 70 N) as muscles, allowed Faudzi et al to develop a robotic hand mimicking the anatomy of the human one, combining the actuators with ligaments and a rigid skeleton. Following a different approach, researchers at Festo presented a gripper composed by a vacuum‐actuated elastomeric bladder, inspired by the chameleon's tongue (Figure h) .…”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…Another boon of soft robotics is the natural advantage they have with object deformation. Due to the flexibility of the soft robots, they can manipulate their bodies, especially a gripper or finger [15,38], to grab objects of varying size and shape. Since the material of soft robotics is modeled after biological systems, soft robotics make for a very good option in the field of medical and wearable devices due to their flexibility and absorption factors, such as seen in recent reverse pneumatic artificial muscle technology [12,13,39] and manipulators for minimally invasive surgery [40].…”

Section: Figurementioning

confidence: 99%

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

et al. 2020

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This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.

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“…A tendon-driven solution for the thumb abduction / opposition was chosen over a soft actuator based solution, in order to avoid the obstruction of the region between the index and the thumb, as many different grasps types require the object to be positioned in-between the thumb and the index metacarpophalangeal joints (in the human hand purlicue area). The tendons used in the exoskeleton glove are made out of a low friction braided fiber of high-performance Ultra-High Molecular Weight Polyethylene (UHMWPE) and can withstand forces up to 500 N. The particular tendon type is very common in related studies that focus on the development of exoskeleton gloves [10] and robotic hands [44] and it provides higher resistance against wear and fatigue. The tendon is affordable and readily available in hardware stores around the world.…”

Section: Design Of the Robotic Exoskeleton Glovementioning

confidence: 99%

A Hybrid, Wearable Exoskeleton Glove Equipped With Variable Stiffness Joints, Abduction Capabilities, and a Telescopic Thumb

et al. 2020

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Robotic hand exoskeletons have become a popular and efficient technological solution for assisting people that suffer from neurological conditions and for enhancing the capabilities of healthy individuals. This class of devices ranges from rigid and complex structures to soft, lightweight, wearable gloves. In this work, we propose a hybrid (tendon-driven and pneumatic), lightweight, affordable, easy-to-operate exoskeleton glove equipped with variable stiffness, laminar jamming structures, abduction/adduction capabilities, and a pneumatic telescopic extra thumb that increases grasp stability. The efficiency of the proposed device is experimentally validated through five different types of experiments: i) abduction/adduction tests, ii) force exertion experiments that capture the forces that can be exerted by the proposed device under different conditions, iii) bending profile experiments that evaluate the effect of the laminar jamming structures on the way the fingers bend, iv) grasp quality assessment experiments that focus on the effect of the inflatable thumb on enhancing grasp stability, and v) grasping experiments involving everyday objects and seven subjects. The hybrid assistive, exoskeleton glove considerably improves the grasping capabilities of the user, being able to exert the forces required to execute a plethora of activities of daily living. All files that allow the replication of the device are distributed in an open-source manner.

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Index Finger of a Human-Like Robotic Hand Using Thin Soft Muscles

Cited by 71 publications

References 20 publications

Soft Robotic Grippers

Soft Robotic Grippers

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

A Hybrid, Wearable Exoskeleton Glove Equipped With Variable Stiffness Joints, Abduction Capabilities, and a Telescopic Thumb

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