A Multi-Segmented Soft Finger Using Snap-Through Instability of a Soft Valve With a Slit
A Multi-Segmented Soft Finger Using Snap-Through Instability of a Soft Valve With a Slit
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利用带有狭缝的软阀的咬合不稳定性的多段软手指
DOI：
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发表时间：
2022
影响因子：
5.2
通讯作者：
Ayoung Hong
中科院分区：
文献类型：
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作者：
Tongil Park;Eunpyo Choi;Chang;Jong;Ayoung Hong
具有多个节段的软手指可以在单独控制每个节段时执行各种抓取模式，尽管这需要多个输入并且导致复杂的结构。在本文中，我们提出了一个多段软手指能够产生双模式，只使用一个单一的输入通道。我们使用一个软球壳与狭缝作为两个手指段之间的流量阀的管理单元通过行为。实验结果表明，阀的几何设计和材料特性决定了其临界压力（即，引起壳体屈曲的压力）并影响所提出的软指的形状变形和模式转变。最后，我们提出了两个手指的采集区域和把握鲁棒性方面的对跖爪。该夹持器在不增加额外输入通道的情况下，不仅可以实现被动末端手指的大范围精确抓取，还可以实现主动末端手指的强大稳定的动力抓取。
Soft fingers with multiple segments can perform various grasping modes when each segment is individually controlled, although this requires a number of inputs and leads to a complicated structure. In this paper, we propose a multi-segment soft finger capable of generating dual modes only using a single input channel. We use the snap-through behavior of a soft spherical shell with a slit as a flow valve between two finger segments. Experimental results showed that geometrical designs and material properties of the valve determine its critical pressure (i.e., the pressure causing buckling of the shell) and affect the proposed soft fingers’ shape deformation and mode transition. We finally characterized an antipodal gripper with two proposed fingers in terms of the acquisition region and grasp robustness. The gripper could achieve not only a broad range of precision grasp by fingers with a passive distal segment but also robust stability of power grasp by fingers with an active distal segment, without adding extra input channels.