Abstract
To improve the safety and adaptability of the human–machine and environment–machine interactions, the research of soft grippers has attracted much attention. In this study a novel Soft Humanoid Hand with Variable Stiffness (SHH-VS) is presented. The SHH-VS has 6 degrees of freedom, and the design of the soft finger with variable stiffness adopts the principle of layer jamming. The SHH-VS can complete grasping, pinching, holding, lifting and other multi-skill grasping operations, using the tendon-driven mechanism. Tactile sensors are installed at the fingertips, which can realize real-time feedback of tactile information. The SHH-VS has better flexibility, greater grasping power, and multi-skill grasping ability. Through a number of grasping experiments, it has been verified that the SHH-VS has greater reliability and safety, and can be used in various daily situations.
S. Du, Q. Wang and Y. Zhao—The same contributions.
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Du, S. et al. (2021). Design and Grasping Experiments of Soft Humanoid Hand with Variable Stiffness. In: Sun, F., Liu, H., Fang, B. (eds) Cognitive Systems and Signal Processing. ICCSIP 2020. Communications in Computer and Information Science, vol 1397. Springer, Singapore. https://doi.org/10.1007/978-981-16-2336-3_30
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DOI: https://doi.org/10.1007/978-981-16-2336-3_30
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