A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

Mariya Chepisheva; Utku Culha; Fumiya Iida

doi:10.1007/978-3-319-43488-9_18

International Conference on Simulation of Adaptive Behavior

SAB 2016: From Animals to Animats 14 pp 195-206

A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

Authors
Authors and affiliations

Mariya Chepisheva
Utku Culha
Fumiya IidaEmail author

Conference paper

First Online:: 10 August 2016

DOI: 10.1007/978-3-319-43488-9_18

Part of the Lecture Notes in Computer Science book series (LNCS, volume 9825)

Cite this paper as:: Chepisheva M., Culha U., Iida F. (2016) A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks. In: Tuci E., Giagkos A., Wilson M., Hallam J. (eds) From Animals to Animats 14. SAB 2016. Lecture Notes in Computer Science, vol 9825. Springer, Cham

Abstract

In this paper we investigate the dexterity of human manipulation capabilities by using a soft robotic hand. We built a robotic hand based on our inspiration from the real human’s, which is capable of handling chopsticks for grasping variations of objects. The robotic hand is made of soft structures, by using anthropomorphic configurations of bones, joints, ligaments, and tendons, that are connected to a minimum set of motor components, i.e. only four servomotors. By developing a minimalistic physics model of chopstick handling and its simulation experiments, we have identified one of the necessary conditions of actuation which enables the robot to grasp variations of small objects, those with different shape, size and weight.

Keywords

Biomimetics Robot hand Soft Robotics

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Authors and Affiliations

Mariya Chepisheva
- 1
Utku Culha
- 1
- 2
Fumiya Iida
- 1
Email author

1.Biologically Inspired Robotics Laboratory, Department of EngineeringUniversity of CambridgeCambridgeUK
2.Department of Mechanical and Process EngineeringETH ZurichZurichSwitzerland

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A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

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