IEEE Robotics & Automation Magazine - June 2021 - 37
A Novel Soft Robotic
Hand Design With
Human-Inspired Soft Palm
Achieving a Great Diversity of Grasps
By Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le,
Ville Kyrki, and He Xu
S
oft robotic hands and grippers are increasingly attracting
attention as robotic end effectors. Compared
with their rigid counterparts, they are safer
for human-robot and environment-robot interactions,
easier to control, and more compliant,
and they cost and weigh less. Design studies of soft robotic
hands have focused mostly on the soft fingers and bending
actuators. However, the palm is also an essential part in
grasping. In this work, we propose a novel design for an
inexpensive soft humanoid hand with pneumatic soft fingers
and a soft palm. The configuration of the soft palm is
based on a modular design that can be applied to actuate
different kinds of existing soft fingers. The splaying of the
fingers, bending of the whole palm, and abduction and adduction
of the thumb are implemented by the palm. Moreover,
we present a new design of soft finger, called the
hybrid-bending soft finger (HBSF), that can both bend in
Digital Object Identifier 10.1109/MRA.2021.3065870
Date of current version: 14 April 2021
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the grasping axis and deflect in the side-to-side axis,
achieving human-like motion (Figure 1). The functions of
the HBSF and soft palm are evaluated both in simulation,
using the Simulation Open Framework Architecture
(SOFA) framework, and experimentally. Six finger designs
with 1-11 longitudinal segments are analyzed. The versatility
of the soft hand is evaluated and demonstrated experimentally
by its grasping of objects according to Feix's
taxonomy. The results demonstrate a great diversity of
grasps, with 31 of the 33 grasp types of the taxonomy performed
successfully with the proposed design, showing
promise for grasping a large variety of objects with different
shapes and weights.
Overview and Motivation
Hands and grippers are essential components in robotic
manipulation as they serve as the physical interface
between the robot and the objects to be manipulated. Dexterous
grasping is a prerequisite for task-dependent
manipulation, which requires the consideration of factors
JUNE 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
37
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IEEE Robotics & Automation Magazine - June 2021
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2021
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