A Novel Soft Robotic Hand Design With Human-Inspired Soft Palm: Achieving a Great Diversity of Grasps

Soft robotic hands and grippers are increasingly attracting attention as a end-effector. Compared with rigid counterparts, they safer for human-robot environment-robot interactions, easier to control, lower cost weight, more compliant. Current soft have mostly focused on the fingers bending actuators. However, palm is also essential part grasping. In this work, we propose novel design of humanoid hand pneumatic palm. The inexpensive fabricate. configuration based modular which can be easily applied into actuating all kinds before. splaying fingers, whole palm, abduction adduction thumb implemented by Moreover, present new finger, called hybrid finger (HBSF). It both bend in grasping axis deflect side-to-side human-like motion. functions HBSF were simulated SOFA framework. And their performance was tested experiments. 6 1 11 segments analyzed. versatility evaluated testified experiments real scenario according Feix taxonomy. results diversity grasps show promise variety objects different shapes weights.