A compliant hand based on a novel pneumatic actuator

By Raphael Deimel, Oliver Brock. IEEE International Conference on Robotics and Automation, 2013

328 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/d4cbb08752810e275c0007015b0ef474536dfa3b

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

A novel type of compliant and underactuated robotic hand for dexterous grasping (2016, background): “We believe that this design choice is critical for robust grasping: First, passive compliance facilitates obtaining force closure in power grasps [Dollar and Howe, 2010, Deimel and Brock, 2013].”
Exploration of underwater life with an acoustically controlled soft robotic fish (2018, methodology): “Soft lithography (36), shape deposition manufacturing (37), thread-reinforced pneumatic chambers (38), and retractable pin casting (39) were some of the initial methods that can be used to realize soft fluid actuators.”
Modeling of Soft Fiber-Reinforced Bending Actuators (2015, background): “The circumferential reinforcement provided by the ﬁbers limits radial expansion and promotes linear extension, while the strain limiting layer at the base re-stricts linear extension on one face of the actuator.”
A Recipe for Soft Fluidic Elastomer Robots (2015, positive): “Deimel and Brock developed a pneumatically actuated three-fingered hand made of fiberreinforced silicone that is mounted to a hard industrial robot and capable of robust grasping.(59) More recently, they have used similar fiber reinforced actuation technology to develop an anthropomorphic soft pneum”
Soft robotic glove for combined assistance and at-home rehabilitation (2015, neutral): “Soft fiber-reinforced actuators The soft actuators presented in this work are composite tubular constructions consisting of anisotropic fiber reinforcements in an elastomeric matrix [31,43,44,51,52].”
Soft Manipulators and Grippers: A Review (2016, methodology): “The technique of channeled mold actuators are known under different names, such as fluidic elastomer actuators (FEA) (Marchese and Rus, 2015), PneuFlex actuators (Deimel and Brock, 2013, 2015), or Pneumatic Networks (Pneu-Nets) (Polygerinos et al., 2013; Mosadegh et al., 2014).”
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, background): “Deimel and Brock (2013) developed a pneumatically actuated three-fingered hand made of reinforced silicone that is mounted to a hard industrial robot and capable of robust grasping.”