Abstract
In this paper, we propose a soft humanoid hand with a C-shaped joint and granular-jamming palm. The C-shaped joint with spring steel strip has low forward stiffness and can be easily bent, while its inherent elasticity enables it to return to its original position. The reverse stiffness of the joint is higher, providing strong support. The granular-jamming palm endows the soft humanoid hand with superhuman capabilities. Then the required bending moment for joint bending was derived through theoretical analysis of the C-shaped joint. The experimental platform was built, and the grasping, adhesion, and weight-bearing experiments were carried out. The results demonstrate the superior performance of the soft humanoid hand with a C-shaped joint and granular-jamming palm.
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Acknowledgement
This work was supported by the National Natural Science Foundation of China (Grant No. 62173197, U22B2042), Tsinghua University Initiative Scientific Research Program with 2022Z11QYJ002.
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Zheng, H., Fang, B., Yan, J., Liu, H., Sun, F. (2023). Soft Humanoid Hand with C-Shaped joint and Granular-Jamming Palm. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_45
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DOI: https://doi.org/10.1007/978-981-99-6486-4_45
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