IEEE Robotics & Automation Magazine - June 2021 - 39

flexible robotic gripper with a rigid, changeable palm. The
configuration of the gripper can be adjusted using a slider
and beam mechanism. An opposable thumb is important
and useful for achieving dexterity in a robotic hand. However,
the rigid, changeable palm can change only the position
of the fingers.
The Robotics and Biology Laboratory Hand 2, designed
by Deimel and Brock [1], has a soft palmar actuator for
enabling thumb abduction. It has a new actuator, called
PneuFlex, with fiber reinforcement of the soft fingers. In
addition, the researchers used two connected PneuFlex
actuators to form the base of the thumb to achieve better
thumb dexterity. The other four fingers were fixed on a
3D-printed scaffold. The assembly angle between the
thumb and the other four fingers is about 120°, instead of
their being coplanar. The soft biomimetic prosthetic hand
developed in [10] presents a similar design for thumb
abduction. It has PneuFlex actuators as in [1] but with one
applied for the thumb and two for the palm. The exoskeleton
for fixing the soft actuators is deformable and based on
a 3D scan of a real human hand. Both hands have soft
actuators for thumb abduction. However, the palm motion
for the other four fingers was ignored. The four fingers of
these hands can bend in only a certain fixed direction. In
contrast to the work of [1] and [10], to augment the
human-like palmar function of the soft hand, we present a
pneumatic soft humanoid palm that can help thumb
abduction, splaying of
the four other fingers,
and palmar bending.
In this article, we propose
a compact hybrid
solution for a soft humanoid
hand, as shown in Figure
1. For the sake of
clarity, the main contributions
of this article are
●
a novel design for an
HBSF, integrating an
inner-chamber network
structure with the
fiber-reinforcement
method
●
The palm plays a
considerable role in
grasping functionality, and
the fixed finger position
greatly limits the variety of
grasp types and poses of
the hands.
a novel design for a
pneumatic soft humanoid
palm.
The soft robotic hand is made of soft materials only.
The HBSF can robustly grasp a variety of objects with different
weights, sizes, shapes, and stiffnesses. The soft
humanoid hand consists of five soft pneumatic fingers and
17
20
108
(a)
Finger
Air Chamber
PP-A
PP-B
(b)
(c)
(d)
Figure 2. The proposed pneumatic soft humanoid hand with dexterous palm. (a) The hand dimensions in millimeters. (b) Its 3D
model. (c) The air chambers; the red parts show the inner distribution of the air chambers, which will be pressurized based on the
SoftRobots plug-in. (d) The soft robotic hand prototype.
JUNE 2021 * IEEE ROBOTICS & AUTOMATION MAGAZINE *
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92
49°
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IEEE Robotics & Automation Magazine - June 2021

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