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A Practical Model of Hybrid Robotic Hands for Grasping Applications Based on Bioinspired Form

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Abstract

How to design a robotic hand that can perform anthropomorphic grasp with high compliance, adaptability and compact structure is still a challenging problem. For this purpose, the paper aims to develop a practical model of hybrid robotic hands for grasping applications based on bioinspired form. The design principle of the hybrid robotic fingers with soft materials and rigid structures, which can reproduce the digit grasping movement of the human hands, is proposed by the analysis of the coupled motion of human fingers in daily living. In order to capture the distal deflection and comprehensive shape, the kinematic transmission of the hybrid robotic fingers is modeled and effects of different parameters on the kinematic model is analyzed, which contributes to the desired configuration design of the hybrid robotic fingers. Then the hybrid robotic fingers are built by proposing a laminated multi-material manufacturing approach. Experimental results show that the kinematic model is accurate and the hybrid fingers have high performance with compact structure. The robotic hand composed of five hybrid fingers can replicate 91% of the natural movements of the human hand. It also has inherent capability of exploiting environmental constraints that simplifies the perception and planning for grasping.

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Data Availability

All data generated and analyzed during this study are included in this article.

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Acknowledgements

The authors wish to thank the members of Dalian Dahuazhongtian Technology Co., Ltd., Yue Miao and Minjie Wu for their technical devices and assistance. Yongyao Li wishes to thank Miss Dong for revising the manuscript.

Funding

Funding was provided by the National Natural Science Foundation of China (Grants: 61873045).

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Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, No.2 Linggong Road, Ganjingzi District, Dalian, 116024, Liaoning, China

    Yongyao Li, Ming Cong & Dong Liu

  2. School of Mechanical Engineering, Dalian Jiaotong University, No.794 Huanghe Road, Shahekou Zone, Dalian, 116028, Liaoning, China

    Yu Du

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  1. Yongyao Li
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  2. Ming Cong
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Contributions

Yu Du contributed to the conception of the study. Yongyao Li performed the design, modeling, analysis, manufacturing and experiments. Yongyao Li wrote the manuscript. Ming Cong, Dong Liu and Yu Du revised the manuscript.

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Correspondence to Yu Du.

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Li, Y., Cong, M., Liu, D. et al. A Practical Model of Hybrid Robotic Hands for Grasping Applications Based on Bioinspired Form. J Intell Robot Syst 105, 73 (2022). https://doi.org/10.1007/s10846-022-01569-5

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  • DOI: https://doi.org/10.1007/s10846-022-01569-5

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