IEEE Robotics & Automation Magazine - June 2021 - 48
1) Large Diameter 2) Small Diameter 3) Medium Wrap 4) Adducted
Thumb
5) Light Tool
6) Prismatic
4 Finger
7) Prismatic
3 Finger
8) Prismatic
2 Finger
9) Palmar Pinch 10) Power Disk 11) Power Sphere 12) Precision Disk
13) Precision
Sphere
14) Tripod
14) Tripod
15) Fixed Hook 16) Lateral
17) Index Finger
Extension
18) Extension
Type
19) Distal Type
20) Writing Tripod 21) Tripod
Variation
22) Parallel
Extension
23) Adduction
Grip
24) Tip Pinch Grip 25) Lateral Tripod 26) Sphere
4 Finger
27) Quadpod
28) Sphere
3 Finger
29) Stick
30) Palmar
31) Ring
32) Ventral
(Failed)
33) Inferior Pincer
Figure 10. Enacted grasps, numbered according to the Feix taxonomy [13]. Please see the accompanying video for the 32 successful
grasps (available at https://doi.org/10.1109/MRA.2021.3065870).
relating to grasp 14 in Figure 10 represents the three-quarter
view of the grasping posture. The red ball was fixed by the
three fingers without the support of the palm. Because of the
inherent compliance of the soft fingers, the red ball was not
firmly grasped by the three fingers, and it was finally dropped
during the rotation of the hand.
Conclusions
In this article, we have described the development of a new
soft humanoid hand capable of grasping different kinds of
objects robustly. The hand is compliant, lightweight, and
low cost. Its pneumatic actuation enables the soft hand to
48 * IEEE ROBOTICS & AUTOMATION MAGAZINE * JUNE 2021
have high compliance while grasping, allowing it to avoid
damaging grasped objects. At the same time, we proposed a
new design for a soft finger, the HBSF, and a novel two-part
soft palm. The functions of all soft actuators were simulated
based on FEM in the SOFA simulator. The experimental
results on a series of fingers with different numbers of
HBSF segments showed that an HBSF with 11 segments is
the best choice for achieving both the bending and deflection
motions.
The main advantage of this study is that the postures of
the hand can be adjusted with the help of the soft palm,
and we can then use different configurations to realize
https://www.doi.org/10.1109/MRA.2021.3065870
IEEE Robotics & Automation Magazine - June 2021
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2021
Contents
IEEE Robotics & Automation Magazine - June 2021 - Cover1
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