Teleoperation of an Anthropomorphic Robot Hand with a Metamorphic Palm and Tunable-Stiffness Soft Fingers.

Journal: Soft robotics
Published Date: Feb 21, 2024

Abstract

Teleoperation in soft robotics can endow soft robots with the ability to perform complex tasks through human-robot interaction. In this study, we propose a teleoperated anthropomorphic soft robot hand with variable degrees of freedom (DOFs) and a metamorphic palm. The soft robot hand consists of four pneumatic-actuated fingers, which can be heated to tune stiffness. A metamorphic mechanism was actuated to morph the hand palm by servo motors. The human fingers' DOF, gesture, and muscle stiffness were collected and mapped to the soft robotic hand through the sensory feedback from surface electromyography devices on the jib. The results show that the proposed soft robot hand can generate a variety of anthropomorphic configurations and can be remotely controlled to perform complex tasks such as primitively operating the cell phone and placing the building blocks. We also show that the soft hand can grasp a target through the slit by varying the DOFs and stiffness in a trail.

Authors

  • Bohan Chen
  • Ziming Chen
    Department of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan, China.
  • Xingyu Chen
    Department of Infectious Diseases, Wenzhou Central Hospital, Wenzhou, China.
  • Sizhe Mao
    Sino-French Engineer School, Beihang University, Beijing, China.
  • Fei Pan
    Department of Emergency, The First Medical Center to Chinese People's Liberation Army General Hospital, Beijing, China.
  • Lei Li
    Department of Thoracic Surgery, The Affiliated Huaian No.1 People's Hospital of Nanjing Medical University, Huai'an, China.
  • Wenbo Liu
    College of Environment and Plant Protection, Hainan University, Haikou 570228, China.
  • Huasong Min
    Department of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan, China.
  • Xilun Ding
    School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
  • Bin Fang
    Department of Earth and Environmental Engineering, Columbia University, New York, 10027, USA.
  • Fuchun Sun
    Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China.
  • Li Wen

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