A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks
- 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
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.