A novel type of compliant and underactuated robotic hand for dexterous grasping

By Raphael Deimel, Oliver Brock. 2016

1,041 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

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Citations in the corpus

Learning dexterous manipulation for a soft robotic hand from human demonstrations (2016, methodology): “The RBO Hand 2 is an inexpensive, compliant, underactuated robotic hand which has been shown to be effective for a variety of grasping tasks [3].”
Optoelectronically innervated soft prosthetic hand via stretchable optical waveguides (2016, background): “Recently, fluidically powered soft actuators have shown their potential in prosthetics and orthotics (14–16); these devices, compared with their motor-driven counterparts, are lighter, undergo continuous and more natural deformation with simple control inputs (17, 18), are easy to fabricate (14, 19)”
Mechanically Versatile Soft Machines through Laminar Jamming (2018, background): “The structure of soft machines allows them to conform to complex shapes[5, 6], withstand crushing loads[7], dampen impacts, and interact safely with the body[8, 9].”
MakeSense: Automated Sensor Design for Proprioceptive Soft Robots (2019, background): “These technologies are enabling functional materials and fully-functional robots 16,17,18,19 that show potential in applications including deep-sea exploration 20 , search-and-rescue 21,22 , surgical robotics 23 , grasping 24 , and prosthetics and wearable devices 25,26,27 .”
High-Force Soft Printable Pneumatics for Soft Robotic Applications (2016, positive): “36 Using soft pneumatic actuators, the robotic hand demonstrated similar dexterity as the human hand with the ability to achieve most of the human grasping tasks listed in Feix taxonomy.”
Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions (2018, background): “The actuators for soft obots are commonly constructed from compliant materials, such s silicones [6], shape memory polymers [11], shape memory alloys 12], electroactive polymers [13] and hydrogels [14].”
Trends and challenges in robot manipulation (2019, methodology): “As an alternative to generate more power, pneumatic or hydraulic actuation may be used (12, 13).”
Soft robotics: Technologies and systems pushing the boundaries of robot abilities (2016, background): “Because of its deformability, the hand can exploit environmental constraints, such as the support of the objects to grasp, and it can robustly grasp objects of different shapes (83).”