Soft Robotics最新文献_第10页

A Bioinspired Fluid-Filled Soft Linear Actuator. 一种仿生充液软线性驱动器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0091

Silvia Filogna, Linda Paternò, Fabrizio Vecchi, Luigi Musco, Veronica Iacovacci, Arianna Menciassi

{"title":"A Bioinspired Fluid-Filled Soft Linear Actuator.","authors":"Silvia Filogna, Linda Paternò, Fabrizio Vecchi, Luigi Musco, Veronica Iacovacci, Arianna Menciassi","doi":"10.1089/soro.2021.0091","DOIUrl":"https://doi.org/10.1089/soro.2021.0091","url":null,"abstract":"In bioinspired soft robotics, very few studies have focused on fluidic transmissions and there is an urgent need for translating fluidic concepts into realizable fluidic components to be applied in different fields. Nature has often offered an inspiring reference to design new efficient devices. Inspired by the working principle of a marine worm, the sipunculid species Phascolosoma stephensoni (Sipunculidae, Annelida), a soft linear fluidic actuator is here presented. The natural hydrostatic skeleton combined with muscle activity enables these organisms to protrude a part of their body to explore the surrounding. Looking at the hydrostatic skeleton and protrusion mechanism of sipunculids, our solution is based on a twofold fluidic component, exploiting the advantages of both pneumatic and hydraulic actuations and providing a novel fluidic transmission mechanism. The inflation of a soft pneumatic chamber is associated with the stretch of an inner hydraulic chamber due to the incompressibility of the liquid. Actuator stretch and forces have been characterized to determine system performance. In addition, an analytical model has been derived to relate the stretch ability to the inlet pressure. Three different sizes of prototypes were tested to evaluate the suitability of the proposed design for miniaturization. The proposed actuator features a strain equal to 40-50% of its initial length-depending on size-and output forces up to 18 N in the largest prototypes. The proposed bioinspired actuator expands the design of fluidic actuators and can pave the way for new approaches in soft robotics with potential application in the medical field.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10278000/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9656604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot. 昆虫级软体机器人的复杂三维地形穿越能力

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 Epub Date: 2022-12-19 DOI: 10.1089/soro.2022.0073

Ying Liu, Jiaming Liang, Jiangfeng Lu, Huimin Chen, Zicong Miao, Dongkai Wang, Xiaohao Wang, Min Zhang

{"title":"Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot.","authors":"Ying Liu, Jiaming Liang, Jiangfeng Lu, Huimin Chen, Zicong Miao, Dongkai Wang, Xiaohao Wang, Min Zhang","doi":"10.1089/soro.2022.0073","DOIUrl":"10.1089/soro.2022.0073","url":null,"abstract":"This article proposes a piezoelectric-driven insect-scale soft robot with ring-like curved legs, enabling it to traverse complex three-dimensional (3D) terrain only by body-terrain mechanical action. Relying on the repeated deformation of the main body's n and u shapes, the robot's leg-ground mechanical action produces an \"elastic gait\" to move. Regarding the detailed design, first, a theoretical curve of the front leg with a fixed angle of attack of 75° is designed by finite element simulation and comparative experiments. It ensures no increase in drag and no decrease in the lift when climbing steps. Second, a ring-like leg structure with 100% closed degree is proposed to ensure a smooth pass through small-sized uneven terrain without getting stuck. Then, the design of the overall asymmetrical structure of the robot can improve the conversion ratio of vibration to forward force. The shape of curved legs is controlled by pulling the flexible leg structure with two metal wires working as spokes. The semirigid leg structure made of fully flexible materials has shape stability and structural robustness. Compared with the plane-legged robot, the curved-legged robot can smoothly traverse different rugged 3D terrains and cross the terrain covering obstacles 0.36 times body height (BH) at a speed of >4 body lengths per second. Moreover, the curved-legged robot shows 100% and 64% chances of climbing steps with 1.2- and 1.9-times BH, respectively.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9656889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modular Bioinspired Hand with Multijoint Rigid-Soft Finger Possessing Proprioception. 具有本体感觉的多关节软硬手指模块化仿生手。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0197

Ruichen Zhen, Li Jiang, Hexin Li, Bangchu Yang

{"title":"Modular Bioinspired Hand with Multijoint Rigid-Soft Finger Possessing Proprioception.","authors":"Ruichen Zhen, Li Jiang, Hexin Li, Bangchu Yang","doi":"10.1089/soro.2021.0197","DOIUrl":"https://doi.org/10.1089/soro.2021.0197","url":null,"abstract":"Soft robot hands have the advantage of remarkable adaptability for grasping. Especially for the soft and fragile objects, soft fingers had presented their much excellent potential compared with their rigid counterparts. However, less degree of freedom, lower force output, lack of proprioception, and poor controllability still limit the application. Inspired by the anatomical structure of the human hand and following the idea of combining soft joints, rigid skeletons and embedded soft curvature sensors, modular dexterous hands composed of multijoint fingers are proposed in this study. Each finger has three quasi-joints, in which metacarpophalangeal soft-joint can realize adduction/abduction and bending motions, and distal two interphalangeal soft-joints are actuated by one actuator. Similar to human hand, soft-joint so-called quasi-joint has a short length of constant curvature segment. The integrated Indium Gallium Alloy sensors with Kelvin Bridge for proprioception can accurately detect joint angles, while closed-loop control based on proprioception was accomplished. Kinematics and statics modeling method of the rigid-soft finger is proposed. To further verify the performance of this design, prototypes of three-fingered and five-fingered hands are developed. The multifingered hands had demonstrated their capability of adaptive grasp and dexterous manipulation, while the force output of the three-fingered hand is up to 31.82 N, and 32 grasp types had accomplished by the five-fingered hand.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9391649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design, Analysis, and Real-Time Simulation of a 3D Soft Robotic Snake. 三维软体机器蛇的设计、分析与实时仿真。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0144

Zhenyu Wan, Yinan Sun, Yun Qin, Erik H Skorina, Renato Gasoto, Ming Luo, Jie Fu, Cagdas D Onal

{"title":"Design, Analysis, and Real-Time Simulation of a 3D Soft Robotic Snake.","authors":"Zhenyu Wan, Yinan Sun, Yun Qin, Erik H Skorina, Renato Gasoto, Ming Luo, Jie Fu, Cagdas D Onal","doi":"10.1089/soro.2021.0144","DOIUrl":"https://doi.org/10.1089/soro.2021.0144","url":null,"abstract":"Snakes are a remarkable source of inspiration for mobile search-and-rescue robots. Their unique slender body structure and multiple modes of locomotion are well-suited to movement in narrow passages and other difficult terrain. The design, manufacturing, modeling, and control techniques of soft robotics make it possible to imitate the structure, mechanical properties, and locomotion gaits of snakes, opening up new possibilities in robotics research. Building on our track record of contributions in this area, this article presents a soft robotic snake made of modules that can actively deform in three-dimensional (3D) and rigorously studies its performance under a range of conditions, including gait parameters, number of modules, and differences in the environment. A soft 3D-printed wave spring sheath is developed to support the robot modules, increasing the snake's performance in climbing steps threefold. Finally, we introduce a simulator and a numerical model to provide a real-time simulation of the soft robotic snake. With the help of the real-time simulator, it is possible to develop and test new locomotion gaits for the soft robotic snake within a short period of time, compared with experimental trial and error. As a result, the soft robotic snake presented in this article is able to locomote on different surfaces, perform different bioinspired and custom gaits, and climb over steps.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9662298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Copebot: Underwater Soft Robot with Copepod-Like Locomotion. Copebot:具有桡足类运动的水下软体机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0158

Zhiguo He, Yang Yang, Pengcheng Jiao, Haipeng Wang, Guanzheng Lin, Thomas Pähtz

{"title":"Copebot: Underwater Soft Robot with Copepod-Like Locomotion.","authors":"Zhiguo He, Yang Yang, Pengcheng Jiao, Haipeng Wang, Guanzheng Lin, Thomas Pähtz","doi":"10.1089/soro.2021.0158","DOIUrl":"https://doi.org/10.1089/soro.2021.0158","url":null,"abstract":"It has been a great challenge to develop robots that are able to perform complex movement patterns with high speed and, simultaneously, high accuracy. Copepods are animals found in freshwater and saltwater habitats that can have extremely fast escape responses when a predator is sensed by performing explosive curved jumps. In this study, we present a design and build prototypes of a combustion-driven underwater soft robot, the \"copebot,\" which, similar to copepods, is able to accurately reach nearby predefined locations in space within a single curved jump. Because of an improved thrust force transmission unit, causing a large initial acceleration peak (850 body length·s-2), the copebot is eight times faster than previous combustion-driven underwater soft robots, while able to perform a complete 360° rotation during the jump. Thrusts generated by the copebot are tested to quantitatively determine the actuation performance, and parametric studies are conducted to investigate the sensitivity of the kinematic performance of the copebot to the input parameters. We demonstrate the utility of our design by building a prototype that rapidly jumps out of the water, accurately lands on its feet on a small platform, wirelessly transmits data, and jumps back into the water. Our copebot design opens the way toward high-performance biomimetic robots for multifunctional applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9306954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Ultralow-Latency Textile Sensors for Wearable Interfaces with a Human-in-Loop Sensing Approach. 基于人在环传感方法的可穿戴接口超低延迟纺织品传感器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2022.0026

Ajinkya Bhat, Jonathan William Ambrose, Raye Chen-Hua Yeow

{"title":"Ultralow-Latency Textile Sensors for Wearable Interfaces with a Human-in-Loop Sensing Approach.","authors":"Ajinkya Bhat, Jonathan William Ambrose, Raye Chen-Hua Yeow","doi":"10.1089/soro.2022.0026","DOIUrl":"https://doi.org/10.1089/soro.2022.0026","url":null,"abstract":"The evolution of wearable technologies has led to the development of novel types of sensors customized for a wide range of applications. Wearable sensors need to possess a low form factor and be ergonomic, causing minimal impediment of the user's natural movement. Various principles have been explored to meet these requirements, ranging from optical, magnetic, resistive flex sensing to 3D printed sensors and liquid metals such as those using eutectic gallium-indium. However, manufacturing techniques for most current wearable sensors tend to be complex and difficult to scale. Challenges also exist in achieving high sensitivity with noise resistance and robustness to false detections, especially in capacitive sensors. In this research, a novel ultralow-latency soft tactile and pressure sensor developed using off-the-shelf e-textiles is proposed, which overcomes some of these limitations. The sensor does not use any specialized equipment or materials for manufacture. A human-in-loop (HIL) sensing technique is demonstrated, which provides high sensitivity, high sensing bandwidth, as well as ultralow latency, which makes it ideal as a wearable input device. In addition, the HIL method provides other advantages such as high noise rejection and resistance to accidental triggers that could be caused by other humans or environmental factors owing to its high signal to noise ratio. Finally, two applications-a wearable keyboard and gaming input device-were demonstrated using these sensors.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9391650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Origami-Inspired Soft Twisting Actuator. 折纸启发的软扭转驱动器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0185

Diancheng Li, Dongliang Fan, Renjie Zhu, Qiaozhi Lei, Yuxuan Liao, Xin Yang, Yang Pan, Zheng Wang, Yang Wu, Sicong Liu, Hongqiang Wang

{"title":"Origami-Inspired Soft Twisting Actuator.","authors":"Diancheng Li, Dongliang Fan, Renjie Zhu, Qiaozhi Lei, Yuxuan Liao, Xin Yang, Yang Pan, Zheng Wang, Yang Wu, Sicong Liu, Hongqiang Wang","doi":"10.1089/soro.2021.0185","DOIUrl":"https://doi.org/10.1089/soro.2021.0185","url":null,"abstract":"Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to, for example, enlarge working space and increase degrees of freedom. Toward this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435°), more significant than its counterparts. Its rotation ratio ( = rotation angle/aspect ratio) is more than 136°, about twice the largest one in other literature. We describe the design and fabrication method, build the analytical model and simulation model, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration into a gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable of picking and placing items at the right angle with the twisting actuators, and a soft snake robot capable of changing attitude and directions by torsion of the twisting actuators.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9362005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

SofaGym: An Open Platform for Reinforcement Learning Based on Soft Robot Simulations. SofaGym:基于软机器人仿真的开放式强化学习平台。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0123

Pierre Schegg, Etienne Ménager, Elie Khairallah, Damien Marchal, Jérémie Dequidt, Philippe Preux, Christian Duriez

{"title":"SofaGym: An Open Platform for Reinforcement Learning Based on Soft Robot Simulations.","authors":"Pierre Schegg, Etienne Ménager, Elie Khairallah, Damien Marchal, Jérémie Dequidt, Philippe Preux, Christian Duriez","doi":"10.1089/soro.2021.0123","DOIUrl":"https://doi.org/10.1089/soro.2021.0123","url":null,"abstract":"OpenAI Gym is one of the standard interfaces used to train Reinforcement Learning (RL) Algorithms. The Simulation Open Framework Architecture (SOFA) is a physics-based engine that is used for soft robotics simulation and control based on real-time models of deformation. The aim of this article is to present SofaGym, an open-source software to create OpenAI Gym interfaces, called environments, out of soft robot digital twins. The link between soft robotics and RL offers new challenges for both fields: representation of the soft robot in an RL context, complex interactions with the environment, use of specific mechanical tools to control soft robots, transfer of policies learned in simulation to the real world, etc. The article presents the large possible uses of SofaGym to tackle these challenges by using RL and planning algorithms. This publication contains neither new algorithms nor new models but proposes a new platform, open to the community, that offers non existing possibilities of coupling RL to physics-based simulation of soft robots. We present 11 environments, representing a wide variety of soft robots and applications; we highlight the challenges showcased by each environment. We propose methods of solving the task using traditional control, RL, and planning and point out research perspectives using the platform.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9676959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots. 一种可现场无系绳软机器人3D打印与快速成型方法。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2022.0003

Zach J Patterson, Dinesh K Patel, Sarah Bergbreiter, Lining Yao, Carmel Majidi

{"title":"A Method for 3D Printing and Rapid Prototyping of Fieldable Untethered Soft Robots.","authors":"Zach J Patterson, Dinesh K Patel, Sarah Bergbreiter, Lining Yao, Carmel Majidi","doi":"10.1089/soro.2022.0003","DOIUrl":"https://doi.org/10.1089/soro.2022.0003","url":null,"abstract":"Because they are made of elastically deformable and compliant materials, soft robots can passively change shape and conform to their environment, providing potential advantages over traditional robotics approaches. However, existing manufacturing workflows are often labor intensive and limited in their ability to create highly integrated three-dimensional (3D) heterogeneous material systems. In this study, we address this with a streamlined workflow to produce field-deployable soft robots based on 3D printing with digital light processing (DLP) of silicone-like soft materials. DLP-based 3D printing is used to create soft actuators (2.2 g) capable of exerting up to 0.5 Newtons of force that are integrated into a bioinspired untethered soft robot. The robot walks underwater at speeds comparable with its biological analog, the brittle star. Using a model-free planning algorithm and feedback, the robot follows remote commands to move to desired positions. Moreover, we show that the robot is able to perform untethered locomotion outside of a laboratory and in a natural aquatic environment. Our results represent progress in soft robot manufacturing autonomy for a 3D printed untethered soft robot.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9300401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail. 软指髓与硬指甲相互作用提高抓握精度。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0231

Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo

{"title":"Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail.","authors":"Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo","doi":"10.1089/soro.2021.0231","DOIUrl":"https://doi.org/10.1089/soro.2021.0231","url":null,"abstract":"In this study, we investigated the effect of the presence or absence of fingernails on precision grasping using artificial anthropomimetic fingers. We hypothesized that fingernails improve precision grasping performance by increasing the friction coefficient while suppressing fingertip deformation. To test our hypothesis, we developed artificial fingertips, each composed of bone, nail, skin, and soft tissue, and fabricated three types of artificial fingers with different skin softness grades and artificial fingers without nails as the control condition. Pullout experiments of cylindrical objects and T-shaped blocks were conducted using the developed artificial fingertips with and without nails, and the magnitude of the holding force was compared. The nail contributed to object grasping stability because the magnitude of the holding force was significantly increased by the presence of the nail in the artificial fingertip with soft skin. The rate of increase in the magnitude of the holding force of the T-shaped block was more significant (3.10 times maximum) compared with the cylindrical object (1.08 times maximum) because the finger pulp deformation was suppressed by the nail, and the form closure, that is, geometric constraint, was formed for the grasping object. The results of this study show that soft fingertips and hard nails can significantly improve the grasping performance of soft robotic hands. And these results suggest that the human nail improves precision grasping performance by forming geometric constraints on the grasped object, suppressing finger pulp deformation.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9336474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1