A dual-mode actuator for soft robotic hand
February 2021IEEE Robotics and Automation Letters PP(99):1-1
DOI: 10.1109/LRA.2021.3056357
Abstract: Fluidic and tendon driven actuators are widely applied in soft robotic hand design. Fluidic actuated soft robotic hands are highly compliant and can adapt to various objects. Tendon driven soft robotic hands are easier to control and have high dexterity and large force output, however, are less compliant than fluidic actuated ones. Most robotic hands are designed with only one actuation method. Combination of both actuation methods can tap the advantages and make up the limitations of each other, but at the expenses of more complicated design and control. In this research, we propose a simple dual-mode actuator that provides both fluidic and tendon actuation. The two actuation modes are achieved simultaneously by twisting an elastic tube that is filled with gas, or liquid, or even a combination. The soft robotic finger, designed as a fluidic elastomer actuator (FEA), is actuated by the fluid displaced from tube twisting, as well as by the tendon due to tube contraction in twisting. The tendon drives a compliant metacarpophalangeal (MCP) joint of the finger in order to provide a large bending angle and bending force to finger. Compared to an FEA soft finger, the proposed design can effectively increase the bending angle up to 150% (from 170 degrees to 260 degrees), and the blocking force up to 134% (from 3.2N to 4.3N). A prototype soft robotic hand designed with dual-mode actuators is made for various grasping demonstration.
Негізгі бет A dual-mode actuator for soft robotic hand
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