SpringerLink
Log in

A Practical Model of Hybrid Robotic Hands for Gras** Applications Based on Bioinspired Form

  • Regular paper
  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

How to design a robotic hand that can perform anthropomorphic grasp with high compliance, adaptability and compact structure is still a challenging problem. For this purpose, the paper aims to develop a practical model of hybrid robotic hands for gras** applications based on bioinspired form. The design principle of the hybrid robotic fingers with soft materials and rigid structures, which can reproduce the digit gras** movement of the human hands, is proposed by the analysis of the coupled motion of human fingers in daily living. In order to capture the distal deflection and comprehensive shape, the kinematic transmission of the hybrid robotic fingers is modeled and effects of different parameters on the kinematic model is analyzed, which contributes to the desired configuration design of the hybrid robotic fingers. Then the hybrid robotic fingers are built by proposing a laminated multi-material manufacturing approach. Experimental results show that the kinematic model is accurate and the hybrid fingers have high performance with compact structure. The robotic hand composed of five hybrid fingers can replicate 91% of the natural movements of the human hand. It also has inherent capability of exploiting environmental constraints that simplifies the perception and planning for gras**.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Data Availability

All data generated and analyzed during this study are included in this article.

References

  1. Billard, A., Kragic, D.: Trends and challenges in robot manipulation. Science. 364, eaat8414 (2019)

    Article  Google Scholar 

  2. ** functions. IEEE Trans. Robot. 32, 652–671 (2016)

    Article  Google Scholar 

  3. Deimel, R., Brock, O.: A novel type of compliant and underactuated robotic hand for dexterous gras**. Int. J. Robot. Res. 35, 161–185 (2016)

    Article  Google Scholar 

  4. Hong, L., Wu, K., Meusel, P., et al: Multisensory five-finger dexterous hand: the DLR/HIT Hand II. In: 2008 IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS), pp 3692–3697 (2008)

  5. Deimel, R., Brock, O.: A compliant hand based on a novel pneumatic actuator. In: 2013 IEEE International Conference on Robotics & Automation (ICRA), pp 2047–2053 (2013)

  6. Polygerinos, P., Lyne, S., Wang, Z., et al.: Towards a soft pneumatic glove for hand rehabilitation. In: 2013 IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS), pp 1512–1517 (2013)

  7. Martinez, R.V., Branch, J.L., Fish, C.R., **, L., Shepherd, R.F., Nunes, R.M.D., Suo, Z., Whitesides, G.M.: Robotic tentacles with three-dimensional mobility based on flexible elastomers. Adv. Mater. 25, 205–212 (2013)

    Article  Google Scholar 

  8. Tolley, M.T., Shepherd, R.F., Mosadegh, B., Galloway, K.C., Wehner, M., Karpelson, M., Wood, R.J., Whitesides, G.M.: A resilient, untethered soft robot. Soft Robot. 1, 213–223 (2014)

    Article  Google Scholar 

  9. Polygerinos, P., Wang, Z., Galloway, K.C., Wood, R.J., Walsh, C.J.: Soft robotic glove for combined assistance and at-home rehabilitation. Robot. Auton. Syst. 73, 135–143 (2015)

    Article  Google Scholar 

  10. Culha, U., Hughes, J., Rosendo, A., Giardina, F., Iida, F.: Design principles for soft-rigid hybrid manipulators. In: Laschi, C., Rossiter, J., Iida, F., et al. (eds.) Biosystems & Biorobotics. Springer, Cham (2017)

    Google Scholar 

  11. Amend, J., Lipson, H.: The JamHand: dexterous manipulation with minimal actuation. Soft Robot. 4(1), 70–80 (2017)

    Article  Google Scholar 

  12. Li, Y., Chen, Y., Yang, Y., et al.: Passive particle jamming and its stiffening of soft robotic grippers. IEEE Trans. Robot. 33(2), 446–455 (2017)

    Article  Google Scholar 

  13. Narang, Y.S., Vlassak, J.J., Howe, R.D.: Mechanically versatile soft machines through laminar jamming. Adv. Funct. Mater. 28(17),1707136(2018)

  14. Kazem, N., Hellebrekers, T., Majidi, C.: Soft multifunctional composites and emulsions with liquid metals. Adv. Mater. 29(27), 1605985 (2017)

    Article  Google Scholar 

  15. Rich, S., Jang, S.H., Park, Y.L., Majidi, C.: Liquid metal-conductive thermoplastic elastomer integration for low-voltage stiffness tuning. Adv. Mater. Technol. 2(12), 1700179 (2017)

    Article  Google Scholar 

  16. Tonazzini, A., Sadeghi, A., Mazzolai, B.: Electrorheological valves for flexible fluidic actuators. Soft Robot. 3(1), 34–41 (2016)

    Article  Google Scholar 

  17. **, S., Wen, W.: Electrorheological fluids: mechanisms, dynamics, and microfluidics applications. Rev. Fluid Mech. 44(1), 143–174 (2012)

    Article  MathSciNet  Google Scholar 

  18. Nishida, T., Okatani, Y., Tadakuma, K.: Development of universal robot gripper using MR α fluid. Int. J. Humanoid Robot. 13(04), 1650017 (2016)

    Article  Google Scholar 

  19. Firouzeh, A., Salerno, M., Paik, J.: Stiffness control with shape memory polymer in underactuated robotic origamis. IEEE Trans. Robot. 33(4), 765–777 (2017)

    Article  Google Scholar 

  20. Wang, W., Ahn, S.: Shape memory alloy-based soft gripper with variable stiffness for compliant and effective gras**. Soft Robot. 4(4), 379–389 (2017)

    Article  Google Scholar 

  21. Yang, Y., Chen, Y., Li, Y., Chen, M.Z.Q., Wei, Y.: Bioinspired robotic fingers based on pneumatic actuator and 3D printing of smart material. Soft Robot. 4(2), 147–162 (2017)

    Article  Google Scholar 

  22. Odhner, L.U., Jentoft, L.P., Claffee, M.R., Corson, N., Tenzer, Y., Ma, R.R., Buehler, M., Kohout, R., Howe, R.D., Dollar, A.M.: A compliant, underactuated hand for robust manipulation. Int. J. Robot. Res. 33(5), 736–752 (2014)

    Article  Google Scholar 

  23. Catalano, M.G., Grioli, G., Farnioli, E., Serio, A., Piazza, C., Bicchi, A.: Adaptive synergies for the design and control of the Pisa/IIT SoftHand. Int. J. Robot. Res. 33, 768–782 (2014)

    Article  Google Scholar 

  24. Hughes, J.E., Maiolino, P., Iida, F.: An anthropomorphic soft skeleton hand exploiting conditional models for piano playing. Sci. Robot. 3, eaau3098 (2018)

    Article  Google Scholar 

  25. Park, W., Seo, S., Bae, J.: A hybrid gripper with soft material and rigid structures. IEEE Robot. Autom. Lett. 4(1), 65–72 (2018)

    Article  Google Scholar 

  26. Chen, Y., Le, S., Tan, Q.C., et al: A reconfigurable hybrid actuator with rigid and soft components. In: 2017 IEEE International Conference on Robotics & Automation (ICRA), pp 58–63 (2017)

  27. Polygerinos, P., Wang, Z., Overvelde, J.B., et al.: Modeling of soft fiber-reinforced bending actuators. IEEE Trans. Robot. 31, 778–789 (2015)

    Article  Google Scholar 

  28. Feix, T., Romero, J., Schmiedmayer, H., et al.: The GRASP taxonomy of human grasp types. IEEE Trans. Hum.-Mach. Syst. 46, 66–77 (2016)

    Article  Google Scholar 

  29. Elkoura, G., Singh, K.: Handrix: animating the human hand. In: Symposium on Computer Animation, pp 110–119 (2003)

  30. Matrone, G., Cipriani, C., Secco, E.L., et al: Bio-inspired controller for a dexterous prosthetic hand based on principal components analysis. In: 31st Annual International Conference of the IEEE EMBS Minneapolis, pp 5022–5025 (2009)

  31. Fujiki, R., Arita, D., Taniguchi, R.I.: Real-time 3D hand shape estimation based on inverse kinematics and physical constraints. In: 2005 International Conference on Image Analysis and Processing (ICIAP), pp 850–858 (2005)

  32. Zhang, Y., Deng, H., Zhong, G.: Humanoid design of mechanical fingers using a motion coupling and shape-adaptive linkage mechanism. J. Bionic Eng. 15, 94–105 (2018)

    Article  Google Scholar 

  33. The electronic textbook of hand surgery. http://www.eatonhand.com/hw/facts.htm. Accessed 10 Jan (2021)

Download references

Acknowledgements

The authors wish to thank the members of Dalian Dahuazhongtian Technology Co., Ltd., Yue Miao and Minjie Wu for their technical devices and assistance. Yongyao Li wishes to thank Miss Dong for revising the manuscript.

Funding

Funding was provided by the National Natural Science Foundation of China (Grants: 61873045).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, No.2 Linggong Road, Gan**gzi District, Dalian, 116024, Liaoning, China

    Yongyao Li, Ming Cong & Dong Liu

  2. School of Mechanical Engineering, Dalian Jiaotong University, No.794 Huanghe Road, Shahekou Zone, Dalian, 116028, Liaoning, China

    Yu Du

Authors
  1. Yongyao Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ming Cong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Dong Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Yu Du
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

Yu Du contributed to the conception of the study. Yongyao Li performed the design, modeling, analysis, manufacturing and experiments. Yongyao Li wrote the manuscript. Ming Cong, Dong Liu and Yu Du revised the manuscript.

Corresponding author

Correspondence to Yu Du.

Ethics declarations

Competing Interests

The authors declare there is no conflict of interest.

Ethics Approval

Not applicable.

Consent to Participate

Not applicable.

Consent for Publication

Not applicable.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Supplementary Information

ESM 1

(MP4 53,897 kb)

ESM 2

(MP4 7670 kb)

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Li, Y., Cong, M., Liu, D. et al. A Practical Model of Hybrid Robotic Hands for Gras** Applications Based on Bioinspired Form. J Intell Robot Syst 105, 73 (2022). https://doi.org/10.1007/s10846-022-01569-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-022-01569-5

Keywords

Search

Navigation