Soft Robotic Hand With Finger-Bending/Friction-Reduction Switching Mechanism Through 1-Degree-of-Freedom Flow Control

被引：12

作者：

Nishimura, Toshihiro ^{[1
]}

Shimizu, Kensuke ^{[2
]}

Nojiri, Seita ^{[2
]}

Tadakuma, Kenjiro ^{[3
]}

Suzuki, Yosuke ^{[1
]}

Tsuji, Tokuo ^{[1
]}

Watanabe, Tetsuyou ^{[1
]}

机构：

[1] Kanazawa Univ, Fac Frontier Engn, Inst Sci & Engn, Kanazawa, Ishikawa 9201192, Japan

[2] Kanazawa Univ, Grad Sch Nat Sci & Technol, Kanazawa, Ishikawa 9201192, Japan

[3] Tohoku Univ, Grad Sch Informat Sci, Sendai, Miyagi 9808577, Japan

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 02期

关键词：

Grippers and other end-effectors; hydraulic/pneumatic actuators; soft robot materials and design; FRICTION; MANIPULATION; GRIPPER; SURFACE; DRY;

D O I：

10.1109/LRA.2022.3157964

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction variable mechanism. In the friction variable mechanism, a lubricant is injected onto the high-friction finger surface to reduce surface friction. To inject the lubrication using a positive-pressure airflow, the Venturi effect is applied. The design and evaluation of the airflow-path switching and friction variable mechanisms are described. Moreover, the entire design of a soft robotic hand equipped with these mechanisms is presented. The performance was validated through grasping, placing, and manipulation tests.

引用

页码：5695 / 5702

页数：8

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