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International Conference on Simulation of Adaptive Behavior

SAB 2016: From Animals to Animats 14 pp 195–206Cite as

A Biologically Inspired Soft Robotic Hand Using Chopsticks for Grasping Tasks

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

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.

The original version of this chapter was revised: The title of the first reference was corrected.

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Acknowledgement

This research was supported by the RoboSoft: Coordination Action for Soft Robotics, funded by the European Commission under the Future and Emerging Technologies (FP7-ICT-2013-C project No 619319), and the Cambridge Commonwealth, European and International Trust.

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Authors and Affiliations

  1. Biologically Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, UK

    Mariya Chepisheva, Utku Culha & Fumiya Iida

  2. Department of Mechanical and Process Engineering, ETH Zurich, Zurich, Switzerland

    Utku Culha

Authors
  1. Mariya Chepisheva
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  2. Utku Culha
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  3. Fumiya Iida
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Corresponding author

Correspondence to Fumiya Iida .

Editor information

Editors and Affiliations

  1. Aberystwyth University, Aberystwyth, United Kingdom

    Elio Tuci

  2. Aberystwyth University, Aberystwyth, United Kingdom

    Alexandros Giagkos

  3. Aberystwyth University, Aberystwyth, United Kingdom

    Myra Wilson

  4. University of Southern Denmark, Odense, Denmark

    John Hallam

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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. https://doi.org/10.1007/978-3-319-43488-9_18

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  • DOI: https://doi.org/10.1007/978-3-319-43488-9_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43487-2

  • Online ISBN: 978-3-319-43488-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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