Design and Analysis of a Soft-Fingered Hand With Contact Feedback
Design and Analysis of a Soft-Fingered Hand With Contact Feedback
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DOI：
10.1109/lra.2016.2645120
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发表时间：
2017-04-01
影响因子：
5.2
通讯作者：
Hirai, Shinichi
中科院分区：
文献类型：
--
作者：
Ho, Van;Hirai, Shinichi
本文提出了一种制造具有接触反馈的柔性机械手的新方法。每个手指都有多层结构，由主结构和感应元件组成。主要结构包括较软的层比较硬的层厚得多。手指的抓握能量来自预拉伸的柔软层的弹性能量，并由单个驱动器拉动/释放的简单肌腱弦控制。由于预拉伸和层间模量的差异，稳定状态下手指的形状/姿态与加压驱动下的柔软手指相似。然后，我们能够通过改变层的形态形状，为不同的应用设计一个柔软的手指手。此外，该手还包括一个柔软、灵活和可拉伸的传感元件，用于检测接触和施加的力，这也可以用于其他软手指的设计。我们通过接触位置的反馈来评估所提出的软手抓取食品的能力。实验结果表明，这只手可以安全地抓住轻而精致的物体，比如水果，并且可以根据传感器的反馈来区分物体。本文提出的设计可能会引发其他软手设计，以及在软机器人研究中使用多层结构形态不平衡变形的可能性。
This paper presents a novel approach to the fabrication of a soft robotic hand with contact feedback for grasping delicate objects. Each finger has a multilayered structure, consisting of a main structure and sensing elements. The main structure includes a softer layer much thicker than a stiffer layer. The gripping energy of the fingers is generated from the elastic energy of the prestretched softer layers, and controlled by simple tendon strings pulled/released by a single actuation. Due to the prestretching and the difference in moduli among layers, the shape/posture of the fingers in stable state is similar to that of soft fingers actuated by pressurization. Then, we were able to design a soft-fingered hand for different applications by changing the morphological shape of layers. In addition, the hand includes a soft, flexible, and stretchable sensing element for the detection of contact and applied force, which can also be used in other designs of soft fingers. We assessed the ability of the proposed soft hand to grasp food products with feedback of contact location. The experimental results showed that the proposed hand could safely grasp light and delicate objects, such as fruits, and that it could possibly distinguish among objects based on feedback from sensors. The design proposed in this paper may give rise to other soft hand designs, along with the possibility of using morphological imbalanced deformation of multilayered structures in soft robotics research.