Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing
Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing
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DOI：
10.1109/lra.2022.3149037
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发表时间：
2022-04-01
影响因子：
5.2
通讯作者：
Maiolino, Perla
中科院分区：
文献类型：
--
作者：
Shorthose, Oliver;Albini, Alessandro;Maiolino, Perla
人类依靠手中的分布式触觉感知来实现对精致物体的稳健而灵巧的操纵。近年来，软机器人手由于其对未知物体的适应性以及与环境的安全交互而受到越来越多的关注。然而，软机器人手中缺乏分布式传感的集成。这主要是由于软传感解决方案与人手集成的复杂性。这封信提出了一种新颖的软机器人手，它结合了主动手掌和手指和手掌的分布式气动触觉传感。多材料 3D 打印允许触觉传感器直接打印在手上，而传统的触觉方法需要将传感器作为多个制造过程的一部分进行连接。手掌中引入了主动自由度，以提高灵活性。所提议的手成功地执行了 33 个 Feix 分类抓握中的 32 个以及所有 11 个 Kapandji 拇指相对姿势。
Humans rely on distributed tactile sensing in their hands to achieve robust and dexterous manipulation of delicate objects. Soft robotic hands have received increased attention in recent years due to their adaptability to unknown objects and safe interactions with the environment. However, the integration of distributed sensing in soft robotic hands is lacking. This is largely due to the complexity in the integration of soft sensing solutions with the hands. This letter proposes a novel soft robotic hand that incorporates an active palm and distributed pneumatic tactile sensing in both the fingers and the palm. Multi-material 3D printing allows the tactile sensors to be directly printed on the hand, whereas conventional tactile approaches require the sensors to be attached as part of multiple fabrication procedures. Active degrees of freedom are introduced in the palm to achieve increased dexterity. The proposed hand successfully performed 32 of the 33 Feix taxonomy grasps and all 11 Kapandji thumb opposition poses.