TY - GEN
T1 - A compliant modular robotic hand with fabric force sensor for multiple versatile grasping modes
AU - Low, J. H.
AU - Lee, W. W.
AU - Khin, P. M.
AU - Kukreja, S. L.
AU - Ren, H. L.
AU - Thakor, N. V.
AU - Yeow, C. H.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/26
Y1 - 2016/7/26
N2 - This paper presents the development of a compliant, modular, reconfigurable, and sensorized robotic hand with multiple grasping capabilities. Each finger consists of a soft pneumatic actuator with embedded fabric force sensor and a detachable casing. The casing has a through hole for housing the actuator and special connectors for attachment to other casings. One casing each from the thumb and finger parts has a protrusion for connecting both parts together via a screw tightening system. The through-hole design allows different grasping length to be achieved and the inflated pneumatic channel of the actuator locks it in place. The modular robotic hand is capable of various versatile grasping tasks by simply changing the bending direction of the actuator, the distance between the thumb and finger parts, the grasping length of the actuator, or attaching/detaching additional fingers to the hand. (1) Hook grasping with single finger, (2) pinching with pad opposition, (3) reverse grasping for holding a pipe-like object, (4) wrap grasping with palm opposition, as well as (5) picking up an object through its handle with one thumb and two or more fingers were illustrated. These studies show the capability of the compliant modular robotic hand in performing various types of grasping by simply using different configurations of the casings. The excellent payload-To-weight ratio of the robotic hand was demonstrated. Also, the fabric force sensor that was embedded in the soft actuator indicated the difference in grasping forces that were applied to different objects during hook grasping. The modular robotic hand has the potential to broaden or substitute the usage of existing robotic hands, especially in applications where soft versatile configurable grasping is desired.
AB - This paper presents the development of a compliant, modular, reconfigurable, and sensorized robotic hand with multiple grasping capabilities. Each finger consists of a soft pneumatic actuator with embedded fabric force sensor and a detachable casing. The casing has a through hole for housing the actuator and special connectors for attachment to other casings. One casing each from the thumb and finger parts has a protrusion for connecting both parts together via a screw tightening system. The through-hole design allows different grasping length to be achieved and the inflated pneumatic channel of the actuator locks it in place. The modular robotic hand is capable of various versatile grasping tasks by simply changing the bending direction of the actuator, the distance between the thumb and finger parts, the grasping length of the actuator, or attaching/detaching additional fingers to the hand. (1) Hook grasping with single finger, (2) pinching with pad opposition, (3) reverse grasping for holding a pipe-like object, (4) wrap grasping with palm opposition, as well as (5) picking up an object through its handle with one thumb and two or more fingers were illustrated. These studies show the capability of the compliant modular robotic hand in performing various types of grasping by simply using different configurations of the casings. The excellent payload-To-weight ratio of the robotic hand was demonstrated. Also, the fabric force sensor that was embedded in the soft actuator indicated the difference in grasping forces that were applied to different objects during hook grasping. The modular robotic hand has the potential to broaden or substitute the usage of existing robotic hands, especially in applications where soft versatile configurable grasping is desired.
UR - http://www.scopus.com/inward/record.url?scp=84983459355&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84983459355&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2016.7523799
DO - 10.1109/BIOROB.2016.7523799
M3 - Conference contribution
AN - SCOPUS:84983459355
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1230
EP - 1235
BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PB - IEEE Computer Society
T2 - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Y2 - 26 June 2016 through 29 June 2016
ER -