Relevant bibliographies by topics / Soft robotic finger

Academic literature on the topic 'Soft robotic finger'

Author: Grafiati
Published: 10 December 2022
Last updated: 29 January 2023

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Journal articles on the topic "Soft robotic finger"

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Teeple, Clark B., Theodore N. Koutros, Moritz A. Graule, and Robert J. Wood. "Multi-segment soft robotic fingers enable robust precision grasping." International Journal of Robotics Research 39, no. 14 (March 13, 2020): 1647–67. http://dx.doi.org/10.1177/0278364920910465.

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In this work, we discuss the design of soft robotic fingers for robust precision grasping. Through a conceptual analysis of the finger shape and compliance during grasping, we confirm that antipodal grasps are more stable when contact with the object occurs on the side of the fingers (i.e., pinch grasps) instead of the fingertips. In addition, we show that achieving such pinch grasps with soft fingers for a wide variety of objects requires at least two independent bending segments each, but only requires actuation in the proximal segment. Using a physical prototype hand, we evaluate the improvement in pinch-grasping performance of this two-segment proximally actuated finger design compared to more typical, uniformly actuated fingers. Through an exploration of the relative lengths of the two finger segments, we show the tradeoff between power grasping strength and precision grasping capabilities for fingers with passive distal segments. We characterize grasping on the basis of the acquisition region, object sizes, rotational stability, and robustness to external forces. Based on these metrics, we confirm that higher-quality precision grasping is achieved through pinch grasping via fingers with the proximally actuated finger design compared to uniformly actuated fingers. However, power grasping is still best performed with uniformly actuated fingers. Accordingly, soft continuum fingers should be designed to have at least two independently actuated serial segments, since such fingers can maximize grasping performance during both power and precision grasps through controlled adaptation between uniform and proximally actuated finger structures.
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Ponraj Joseph Vedhagiri, Godwin, Avataram Venkatavaradan Prituja, Changsheng Li, Guoniu Zhu, Nitish V. Thakor, and Hongliang Ren. "Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements." Robotics 8, no. 3 (August 6, 2019): 67. http://dx.doi.org/10.3390/robotics8030067.

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This paper is an extension of our previous work about a modular anthropomorphic robotic hand with soft enhancements focusing on simultaneous pinch grasp and suction-based object manipulations. The base structure is a tendon-driven robotic hand comprising five fingers and a palm. Each finger consists of two rigid links covered with soft enhancements. The soft enhancements are like the skin and tissues of the robotic hand. The tip of the finger is equipped with a suction module which can be actuated by regulating negative pressure to the soft layers. While our previous work dealt with the rationale behind and the structure of the modular design with kinematic analysis, this paper focuses on analyzing two specific capabilities of the gripper—pinch grasp and suction modality. Experiments validate that the proposed gripper together with the soft enhancement layers is capable of performing delicate single finger suction-based manipulation tasks and two-finger pinch grasp tasks.
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Liu, Mingfang, Lina Hao, Wei Zhang, and Zhirui Zhao. "A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090781. http://dx.doi.org/10.1177/1729881420907813.

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Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers. The main limitations of such systems are small grasping force resulted from properties of soft actuators and lacking variable stiffness of soft robotic grippers, which prevent them from a larger wide range of applications. This article proposes a shape-memory alloy (SMA)-based soft gripper with variable stiffness composed of three robotic fingers for grasping compliantly at low stiffness and holding robustly at high stiffness. Each robotic finger mainly consisted of stiff parts and two variable stiffness joints is installed on the base with a specific angle. The paraffin as a variable stiffness material in the joint can be heated or cooled to change the stiffness of the robotic fingers. Results of experiments have shown that a single robotic finger can approximately achieve 18-fold stiffness enhancement. Each finger with two joints can actively achieve multiple postures by both changing the corresponding stiffness of joints and actuating the SMA wire. Based on these principles, the gripper can be applied to grasp objects with different shapes and a large range of weights, and the maximum grasping force of the gripper is increased to about 10 times using the variable stiffness joints. The final experiment is conducted to validate variable stiffness of the proposed soft grippers grasping an object.
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Khurshid, A., A. Ghafoor, and M. A. Malik. "Modeling and Analysis of Soft Contact in Robotic Grasping Using Bond Graph Methods." Advanced Materials Research 189-193 (February 2011): 1786–92. http://dx.doi.org/10.4028/www.scientific.net/amr.189-193.1786.

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Soft fingers contribute to dexterous grasping on account of the area contact and high friction involved. This paper presents a novel approach in modeling of soft contacts between soft fingertip and object using viscoelastic material and analyses its characteristics employing BondGraph Methods (BGM). The fingers are made viscoelastic by using springs and dampers. Detailed bond graph modeling of the contact phenomenon with two soft-finger contacts considered to be placed against each other on the opposite sides of the grasped object as is generally the case in a manufacturing environment is presented. The stiffness of the springs is exploited in order to achieve the stability in the soft-grasping which includes friction between the soft finger contact surfaces and the object. It is shown in the paper that the system stability depends on the viscoelastic material properties of the soft interface. Method of root locus is used to analyze this phenomenon. The paper shows how the weight of the object moving downward is controlled by the friction between the fingers and the object during the application of contact forces by varying the damping and the stiffness in the soft finger.
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Zhao, Shumi, Yisong Lei, Ziwen Wang, Jie Zhang, Jianxun Liu, Pengfei Zheng, Zidan Gong, and Yue Sun. "Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application." Micromachines 12, no. 12 (December 20, 2021): 1593. http://dx.doi.org/10.3390/mi12121593.

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To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application.
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Phung, Van Binh. "SIMULATION RESEARCH ON THE GRASPING PROCESSOF THE SOFT ROBOT GRIPPER." Journal of Science and Technique 17, no. 4 (September 27, 2022): 54–69. http://dx.doi.org/10.56651/lqdtu.jst.v17.n04.403.

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Thisarticlepresents a method to simulate the dynamics of the grasping process of a soft robotic gripper that is made of silicon. The pneumatically actuated soft fingers are composed of interconnecting hollow chambers. Each soft finger is modeled as a series of line-segment links using a multibody dynamics approach. Numerical simulations using Abaqus/CAE software are used to determine the system's dynamic parameters. The soft gripper’s model is then integrated into the robotic manipulators that are built on MSC Adams software. The interaction between soft grippers and objects is modeled according to the Hertz contact theory. The proposed model allows for the investigation of soft gripper gripping capacity with various types of objects and different moving velocities and accelerations. The simulation shows that the soft gripper can hold a spherical object and a cylindrical object with the same mass of 300 g at a maximum acceleration of 9.9 m/s2and 3.6 m/s2respectively. The results of the study are being used to improve the design of the robot's soft gripper.
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Ramirez Arias, Rubiano Fonseca, and Castiblanco Moreno. "Soft Driving Epicyclical Mechanism for Robotic Finger." Actuators 8, no. 3 (July 29, 2019): 58. http://dx.doi.org/10.3390/act8030058.

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Nowadays, the development or improvement of soft actuation mechanisms is a crucialtopic for the achievement of dexterous manipulation using. Then, a primary target of research is thedesign of actuation and driving devices. Consequently, in this paper, we introduce a soft drivingepicyclical mechanism that mimics human muscle behavior and fulfills motion requirements toachieve grasping gestures using a robotic finger. The prototype is experimentally assessed, andresults show that our approach has enough performance for the implementation in grasping tasks.Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memoryalloys to allow active stiffness control of the mechanism.
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Liu, Hao, Changchun Wu, Senyuan Lin, Yunquan Li, and Yonghua Chen. "Double-Acting Soft Actuator for Soft Robotic Hand: A Bellow Pumping and Contraction Approach." Biomimetics 7, no. 4 (October 20, 2022): 171. http://dx.doi.org/10.3390/biomimetics7040171.

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When compressing a soft bellow, the bellow will contract and pump out the fluid inside the bellow. Utilizing this property, we propose a novel actuation method called compressing bellow actuation (CBA), which can output fluidic power and tendon-driven force simultaneously. Based on the CBA method, a double-acting soft actuator (DASA) combining fluidic elastomer actuator (FEA) and tendon-driven metacarpophalangeal (MCP) joint is proposed for robotic finger design. The proposed DASA exhibits both compliance and adaptiveness of FEAs, and controllability and large output force of the tendon-driven methods. The fluid in the bellow can be either air or water or even integration of the two, thus constituting three different actuation modes. Mathematical modeling of the relationship between bellow compression displacement and DASA’s bending angle is developed. Furthermore, experimental characterizations of DASA’s bending angle and blocking force are conducted at different actuation modes. The double-acting method can availably promote the bending angle of an FEA by up to 155%, and the blocking force by up to 132% when the FEA is water-filled. A soft robotic hand with a forearm prototype based on the DASA fingers is fabricated for the demonstration of finger motion and gripping applications.
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Kladovasilakis, Nikolaos, Ioannis Kostavelis, Paschalis Sideridis, Eleni Koltzi, Konstantinos Piliounis, Dimitrios Tzetzis, and Dimitrios Tzovaras. "A Novel Soft Robotic Exoskeleton System for Hand Rehabilitation and Assistance Purposes." Applied Sciences 13, no. 1 (December 30, 2022): 553. http://dx.doi.org/10.3390/app13010553.

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During the last decade, soft robotic systems, such as actuators and grippers, have been employed in various commercial applications. Due to the need to integrate robotic mechanisms into devices operating alongside humans, soft robotic systems concentrate increased scientific interest in tasks with intense human–robot interaction, especially for human-exoskeleton applications. Human exoskeletons are usually utilized for assistance and rehabilitation of patients with mobility disabilities and neurological disorders. Towards this direction, a fully functional soft robotic hand exoskeleton system was designed and developed, utilizing innovative air-pressurized soft actuators fabricated via additive manufacturing technologies. The CE-certified system consists of a control glove that copies the motion from the healthy hand and passes the fingers configuration to the exoskeleton applied on the affected hand, which consists of a soft exoskeleton glove (SEG) controlled with the assistance of one-axis flex sensors, micro-valves, and a proportional integral derivative (PID) controller. Each finger of the SEG moves independently due to the finger-dedicated motion control system. Furthermore, the real-time monitoring and control of the fabricated SEG are conducted via the developed software. In addition, the efficiency of the exoskeleton system was investigated through an experimental validation procedure with the involvement of healthy participants (control group) and patients, which evaluated the efficiency of the system, including safety, ergonomics, and comfort in its usage.
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Zhao, Shumi, Ziwen Wang, Yisong Lei, Jie Zhang, Yuyao Li, Zeji Sun, and Zidan Gong. "3D-Printed Soft Pneumatic Robotic Digit Based on Parametric Kinematic Model for Finger Action Mimicking." Polymers 14, no. 14 (July 7, 2022): 2786. http://dx.doi.org/10.3390/polym14142786.

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A robotic digit with shape modulation, allowing personalized and adaptable finger motions, can be used to restore finger functions after finger trauma or neurological impairment. A soft pneumatic robotic digit consisting of pneumatic bellows actuators as biomimetic artificial joints is proposed in this study to achieve specific finger motions. A parametric kinematic model is employed to describe the tip motion trajectory of the soft pneumatic robotic digit and guide the actuator parameter design (i.e., the pressure supply, actuator material properties, and structure requirements of the adopted pneumatic bellows actuators). The direct 3D printing technique is adopted in the fabrication process of the soft pneumatic robotic digit using the smart material of thermoplastic polyurethane. Each digit joint achieves different ranges of motion (ROM; bending angles of distal, proximal, and metacarpal joint are 107°, 101°, and 97°, respectively) under a low pressure of 30 kPa, which are consistent with the functional ROM of a human finger for performing daily activities. Theoretical model analysis and experiment tests are performed to validate the effectiveness of the digit parametric kinematic model, thereby providing evidence-based technical parameters for the precise control of dynamic pressure dosages to achieve the required motions.
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Dissertations / Theses on the topic "Soft robotic finger"

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Liu, Sandra Q. "Vision-based proprioception of a soft robotic finger with tactile sensing." Thesis, Massachusetts Institute of Technology, 2020. https://hdl.handle.net/1721.1/127131.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 69-72).
Over the past decade, the development of soft robots has significantly progressed. Today, soft robots have a variety of usages in multiple fields, ranging from surgical robotics to prostheses to human-robot interaction. These robots are more versatile, adaptable, safe, robust, and dexterous than their conventional rigid-body counterparts. However, due to their high-dimensionality and flexibility, they still lack a quintessential human ability: the ability to accurately perceive themselves and the environment around them. To maximize their effectiveness, soft robots should be equipped with both proprioception and exteroception that can capture this intricate high-dimensionality. In this thesis, an embedded vision-based sensor, which can capture richly detailed information, is utilized to concurrently perceive proprioception and tactile sensing. Three proprioceptive methods are implemented: dot pose tracking, lookup table, and deep learning.
Although dot pose tracking (average 0.54 mm RMSE) and the lookup table (0.91 mm accumulative distance error) both have accurate proprioception results, they are impractical to implement and easily influenced by outside parameters. As such, the deep learning method for soft finger proprioception was implemented for the GelFlex, a novel highly underactuated exoskeleton-covered soft finger with embedded cameras. The GelFlex has the ability to perform both proprioception and tactile sensing and upon assembly into a two-finger robotic gripper, was able to successfully perform a bar stock classification task, which requires both types of sensing. The proprioception CNN was extremely accurate on the testing set (99% accuracy where all angles were within 1° error) and had an average accumulative distance error of 0.77 mm during live testing, which is better than human finger proprioception (8.0 cm ±1.0 cm error).
Overall, these techniques allow soft robots to be able to perceive their own shape and the surrounding environment, enabling them to potentially solve various everyday manipulation tasks.
by Sandra Q. Liu.
S.M.
S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Santos, João Guilherme Alves dos. "Bio-inspired robotic gripper with hydrogel-silicone soft skin and 3d printed endoskeleton." Master's thesis, 2017. http://hdl.handle.net/10316/82840.

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Trabalho de Projeto do Mestrado Integrado em Engenharia Física apresentado à Faculdade de Ciências e Tecnologia
Neste projeto, desenvolve-se um dedo inovador e inspirado biologicamente, com fisiologia semelhante à de um dedo humano. O dedo "soft" é feito com um núcleo impresso em 3D para substituir o endoesqueleto dos dedos humanos, com uma pele elástica de silicone para substituir a camada epidérmica elástica e resiliente e um enchimento de hidrogel para substituir a camada dérmica. No dedo humano, a camada dérmica é mais macia do que a camada epidérmica e contém uma quantidade considerável de água, portanto, deve ser protegida pela camada epidérmica, que é mais resistente. Esta não só protege a camada subjacente do desgaste mecânico, mas também fornece uma barreira contra a perda de água. Por outro lado, a camada dérmica, ao ser mais suave, ajuda numa melhor adaptação local da pele para agarrar os objectos eficientemente. A camada epidérmica de silicone destina-se a ser elástica, maleável e protege o hidrogel de maneira que este não perca água ao longo do tempo. O enchimento de hidrogel do dedo é feito de poliacrilato de sódio e água destilada; o material utilizado como silicone é Ecoflex 00-30 e o endoesqueleto do dedo é feito de acrilonitrilo butadina estireno (ABS).Também foi desenvolvido um protótipo de baixo custo de uma pinça sub-atuada integrando três destes dedos. Tem um mecanismo baseado nos "push base toys" e foi inteiramente impresso numa impressora "fusion deposition modelling" (FDM) com material ácido poliláctico (PLA). Um único motor acciona o sistema puxando para cima e para baixo os tendões que estão integrados nos dedos, forçando-os abrir ou fechar, com o propósito de agarrar ou soltar objetos.Os dedos foram primeiramente testados individualmente. A força necessária para a flexão total dos dedos foi medida e comparada com uma versão anterior do dedo que contém apenas a camada epidérmica sem a camada dérmica de hidrogel. Os resultados mostram uma melhora na redução da força necessária para a flexão. Também a pinça integrada com a nova versão dos dedos foi desenvolvida e testada para agarrar vários objectos incluindo frutas macias.No final da dissertação, alguns ensaios de \textit{pick and place} são analisados e é concluído que foi conseguido um dedo "soft" óptimo que pode ser usado em pinças e próteses. Apesar do seu excelente desempenho, o preço geral dos materias usados para a pinça robótica desenvolvida nesta dissertação é de 15 Euros, incluindo o actuador. Também é apresentado trabalho futuro tanto para a pinça como para o dedo "soft".
On this project, an innovative and bio-inspired finger is developed, resembling the physiology of a biological human finger. The soft finger is made of a 3D-printed core to substitute the fingers’ endoskeleton, a silicon elastomer skin to substitute the elastic and resilient epidermal layer and a hydrogel filling to substitute the dermal layer. The dermal layer in human finger is softer than the epidermal layer and contains a considerable amount of water, and therefore should be protected by the more resilient epidermal layer, that not only protects the underlying layer from mechanical wear, but it also provides a barrier against losing the water. On the other hand, the softer dermal layer helps in better local adaptation of the skin to objects for efficient grasping. The silicone epidermal layer is intended to be elastic, malleable and protects the hydrogel from losing water over the time. The hydrogel filling of the finger is made from sodium polyacrylate (SPA) and distilled water; the material used as the silicone is Ecoflex 00-30 and the finger core is made of acrylonitrile butadine styrene (ABS).A low-cost prototype of an under-actuated gripper was also developed integrating three of these fingers. It has a mechanism based on the push base toys and it was fully printed on a fusion deposition modelling (FDM) printed with polylactic acid material (PLA). A single motor actuates the system by pulling up and down the tendons that are integrated in the fingers, making them open or close, in order to grip or drop objects.Fingers were tested first individually.The required force for full flexion of the fingers were measured and compared to a previous version of the finger that contains only the epidermal layer without containing the hydrogel dermal layer. Results show an improvement in reduction of the required force for flexion. Also the integrated gripper with the new version of the fingers were developed and tested for grasping several objects including soft fruits.At the end of the dissertation, some gripping tests are analysed and concluding that was achieved an optimal soft finger that can be used in grippers and prosthesis. Despite its excellent performance, the overall bill of materials of the full gripper developed in this dissertation is 15 Euros, including the actuator. Also future work is presented both for the gripper and the soft finger.
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Book chapters on the topic "Soft robotic finger"

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Shanmuganathan, Sugandhana, V. Prasanna Venkatesh, Devarshi Pandey, and Rajeevlochana G. Chittawadigi. "Bi-directional Soft Robotic Finger Actuated Mechanisms." In Advances in Asian Mechanism and Machine Science, 379–88. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-91892-7_36.

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Li, Bowen, Jiangxia Shi, and Wenzeng Zhang. "MESA Finger: A Multisensory Electronic Self-Adaptive Unit for Humanoid Robotic Hands." In Advances in Intelligent and Soft Computing, 395–400. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-27951-5_59.

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Hussain, Irfan, Gionata Salvietti, Giovanni Spagnoletti, David Cioncoloni, Simone Rossi, and Domenico Prattichizzo. "A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients." In Biosystems & Biorobotics, 57–61. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46532-6_10.

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Yokokohji, Yasuyoshi, Moriyuki Sakamoto, and Tsuneo Yoshikawa. "Object Manipulation by Soft Fingers and Vision." In Robotics Research, 365–74. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0765-1_45.

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Tao, Yi-Dan, and Guo-Ying Gu. "Design of a Soft Pneumatic Actuator Finger with Self-strain Sensing." In Intelligent Robotics and Applications, 140–50. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65289-4_14.

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Shahabi, Ebrahim, Yu-Ta Yao, Cheng-Hsiu Chuang, Po Ting Lin, and Chin-Hsing Kuo. "Design and Testing of 2-Degree-of-Freedom (DOF) Printable Pneumatic Soft Finger." In Robotics and Mechatronics, 298–308. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_27.

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Trinh, Hiep Xuan, Phung Van Binh, Le Duc Manh, Nguyen Van Manh, and Ngo Van Quang. "Soft Robotics-Fingered Hand Based on Working Principle of Asymmetric Soft Actuator." In Proceedings of the International Conference on Cognitive and Intelligent Computing, 83–90. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-2350-0_9.

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Yoshikawa, Tsuneo, Masanao Koeda, and Hiroshi Fujimoto. "Shape Recognition and Optimal Grasping of Unknown Objects by Soft-Fingered Robotic Hands with Camera." In Experimental Robotics, 537–46. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_62.

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Champatiray, Chiranjibi, G. B. Mahanta, S. K. Pattanayak, and R. N. Mahapatra. "Analysis for Material Selection of Robot Soft Finger Used for Power Grasping." In Lecture Notes in Mechanical Engineering, 961–70. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-2696-1_93.

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Flores-Martínez, Edén, X. Yamile Sandoval-Castro, and Eduardo Castillo-Castaneda. "Soft Pneumatic Actuator Inspired on Flexion-Extension Motion Trajectory of the Human Fingers." In Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics, 168–77. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-99826-4_14.

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Conference papers on the topic "Soft robotic finger"

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Jaswal, Irtiza Tariq, and A. Mahmood. "Robotic gripping using soft finger tips." In 2017 International Conference on Innovations in Electrical Engineering and Computational Technologies (ICIEECT). IEEE, 2017. http://dx.doi.org/10.1109/icieect.2017.7916524.

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Wang, Hui, Jungong Ma, Ziyu Ren, Zheyuan Gong, Yufei Hao, Tianmiao Wang, and Li Wen. "Fiber-reinforced soft robotic anthropomorphic finger." In 2016 International Conference on Robotics and Automation Engineering (ICRAE). IEEE, 2016. http://dx.doi.org/10.1109/icrae.2016.7738777.

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Won Suk You, Young Hun Lee, Gitae Kang, and Hyouk Ryeol Choi. "Design of backdrivable soft robotic finger mechanism." In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, 2015. http://dx.doi.org/10.1109/urai.2015.7358968.

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Dang, Wenting, Ensieh S. Hosseini, and Ravinder Dahiya. "Soft Robotic Finger with Integrated Stretchable Strain Sensor." In 2018 IEEE Sensors. IEEE, 2018. http://dx.doi.org/10.1109/icsens.2018.8589671.

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Ghafoor, Abdul, and Jian S. Dai. "Torsional Stiffnesses of the Soft Contact of a Soft-Robotic-Finger." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57381.

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This paper investigates the equivalent contour representation of the soft contact, proposes torsional stiffness coefficients relating the contact contour to a soft-robotic-finger contact and develops the finite elastic elements of the soft finger. The contact is modeled between a grasped object and a soft fingertip as a number of contours with a set of equivalent elastic contact points arranged on each contour. The stiffness matrix model is presented and related to the torsional stiffness coefficients. The paper further reveals the effect of the robotic finger stiffness on the stiffness coefficients by modeling the finger with a finite number of elastic elements arranged serially. The couples which arise from the elastic elements give translational and torsional stiffness characteristics of the soft contact. This presents a way of measuring soft contact stiffness. In particular, the torsional stiffness is investigated with its variance with the contours. A case study is presented at the end.
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Zhao, Longchao, and Satyandra K. Gupta. "Design, Manufacturing, and Characterization of a Pneumatically-Actuated Soft Hand." In ASME 2018 13th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/msec2018-6622.

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Soft robotic hands can be used to manipulate delicate parts. The use of under-actuated fingers can significantly reduce the number of actuators and the complexity of the hand structure. This in turn can lower the cost of realizing robotic hands. This paper presents a new design for a multi-fingered soft hand for robotic applications. We adapt the fusible core molding process to realize complex inner cavities needed in pneumatically-actuated fingers. We also introduce a method for predicting the finger motion using pseudo-rigid-body model. We demonstrate that the soft hand can achieve the desired shapes and apply the required forces in tasks such as handling, grasping, pinching, clipping, and fastening.
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Cheng, Chang, Yadong Yan, Mingjun Guan, Jianan Zhang, and Yu Wang. "Tactile Sensing with a Tendon-Driven Soft Robotic Finger." In 2021 9th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE, 2021. http://dx.doi.org/10.1109/iccma54375.2021.9646197.

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GHAFOOR, ABDUL, and JIAN S. DAI. "OPTIMUM SIZE OF A SOFT-FINGER CONTACT IN ROBOTIC GRASP." In Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2008. http://dx.doi.org/10.1142/9789812835772_0105.

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9

Haghshenas-Jaryani, Mahdi, and Muthu B. J. Wijesundara. "A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85629.

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Abstract:
This paper presents the development of a framework based on a quasi-statics concept for modeling and analyzing the physical human-robot interaction in soft robotic hand exoskeletons used for rehabilitation and human performance augmentation. This framework provides both forward and inverse quasi-static formulations for the interaction between a soft robotic digit and a human finger which can be used for the calculation of angular motions, interaction forces, actuation torques, and stiffness at human joints. This is achieved by decoupling the dynamics of the soft robotic digit and the human finger with similar interaction forces acting on both sides. The presented theoretical models were validated by a series of numerical simulations based on a finite element model which replicates similar human-robot interaction. The comparison of the results obtained for the angular motion, interaction forces, and the estimated stiffness at the joints indicates the accuracy and effectiveness of the quasi-static models for predicting the human-robot interaction.
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10

Ghafoor, Abdul, Jian S. Dai, and Joseph Duffy. "Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14110.

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Abstract This paper proposes a practical and analytical model for soft finger grasp. It presents a contact stiffness matrix by applying congruence transformation and mapping stiffnesses from a line spring model onto translational and rotational stiffnesses. The contact that is realised in this paper is in the form of a patch contact with evenly distributed finite number of equivalent point contacts. An analytical approach is hence proposed based on line springs and screw representation of the frictional elastic point contacts that provides a direct correlation between the equivalent point contact and soft finger contact of a rigid object and gives a procedure to complete the analysis. The grasp achieved with the analysis provides both translational and rotational restraint. The approach and its use for finite manipulation are supported by a case study.
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