Research on Humanoid Pneumatic Soft Robot Hand

Abstract

Inspired by the physiological structure of octopus brachiopods, two kinds of bionic soft fingers with adjustable stiffness were designed and manufactured. Then the humanoid pneumatic soft robot hand was developed based on the two soft fingers. The static models of the proposed soft fingers were established. According to the simplified model and the bending geometry of the spring, the mapping relationship between the spring model elongation and the soft finger bending geometry parameters (bending direction, bending angle, bending radius) was established. The single-cavity bending, multi-cavity coupling bending and grasping experiments were carried out. Also, the pneumatic soft robot hand was manufactured and tested for grasping objects with different geometrical shape and size, which indicates its flexibility and dexterity.