Annu Int Conf IEEE Eng Med Biol Soc. 2021 Nov;2021:4570-4573. doi: 10.1109/EMBC46164.2021.9629524.
In the past, partly due to modeling complexities and technical constraints, fingers of soft grippers are rarely driven by high number of actuators, which leads to lack of dexterity. Here we propose a soft robotic gripper with modular anthropomorphic fingers. Each finger is actuated by four linear drivers, capable of performing forward/backward bending, and abduction/adduction motions. The piecewise constant curvature kinematic model reveals the proposed finger has an ellipsoidal shell workspace analogous to that of a human finger. Furthermore, we build a gripper using two of our modular fingers, and test dexterity and strength of the finger. Our results show that by simple control schemes, the proposed gripper can perform precision grasps and three types of in-hand manipulations that would otherwise be impossible without the addition actuation.
过去，部分由于建模复杂性和技术限制，软体夹爪的手指很少由多个致动器驱动，这导致灵巧性不足。在这里，我们提出了一种具有模块化拟人化手指的软体机器人夹爪。每个手指由四个线性驱动器驱动，能够执行前/后弯曲以及外展/内收运动。分段常数曲率运动学模型揭示了所提出的手指具有类似于人类手指的椭圆形外壳工作空间。此外，我们使用两个模块化手指构建了一个夹爪，并测试了手指的灵巧性和强度。我们的结果表明，通过简单的控制方案，所提出的夹爪可以执行精密抓取和三种类型的手头操作，如果没有额外的致动器，这些操作是不可能实现的。
