Soft Humanoid Hands with Large Grasping Force Enabled by Flexible Hybrid Pneumatic Actuators
Soft Humanoid Hands with Large Grasping Force Enabled by Flexible Hybrid Pneumatic Actuators
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DOI：
10.1089/soro.2020.0001
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发表时间：
2020-07-16
期刊：
影响因子：
7.9
通讯作者：
Cao, Changyong
中科院分区：
文献类型：
--
作者：
Liu, Xiaomin;Zhao, Yunwei;Cao, Changyong
由于软爪和执行器比刚性爪和执行器更安全、更适应人机和环境-机器交互，因此越来越受到人们的关注。在这项研究中，我们提出了一种新型柔软的类人手，它能够健壮地抓取各种不同重量、大小、形状、纹理和刚度的物体。柔软的手指是由基于模块化方法设计的柔性混合气动执行器（fhpa）组成的。建立了柔性手环弯曲变形、抓握力和承载能力的理论模型，研究了不同设计参数对柔性手环性能的影响，对柔性手环进行了优化设计。这种新的FHPA实现了所需的灵活性和必要的刚度的平衡，由此产生的柔软的人形手具有响应快，抓握力大，成本低，重量轻，易于制造和维修的优点，这表明了各种应用的前景，如水果采摘，产品包装和易碎物体的操作。
Soft grippers and actuators have attracted increasing attention due to safer and more adaptable human-machine and environment-machine interactions than their rigid counterparts. In this study we present a novel soft humanoid hand that is capable of robustly grasping a variety of objects with different weights, sizes, shapes, textures, and stiffnesses. The soft hand fingers are made of flexible hybrid pneumatic actuators (FHPAs) designed based on a modular approach. A theoretical model is proposed to evaluate the bending deformation, grasping force, and loading capacity of the FHPAs, and the effects of various design parameters on the performance of the FHPA are investigated for optimizing the soft hands. This new FHPA achieves a balance of required flexibility and necessary stiffness, and the resulting soft humanoid hand has the merits of fast response, large grasping force, low cost, light weight, and ease of fabrication and repair, which shows promise for a variety of applications such as fruit picking, product packaging, and manipulation of fragile objects.