Soft Robotic Hand With Finger-Bending/Friction-Reduction Switching Mechanism Through 1-Degree-of-Freedom Flow Control
نویسندگان
چکیده
This letter proposes a novel pneumatic soft robotic hand that incorporates mechanism can switch the airflow path using single control. The developed control finger motion and operate surface friction variable mechanism. In mechanism, lubricant is injected onto high-friction to reduce friction. To inject lubrication positive-pressure airflow, Venturi effect applied. design evaluation of airflow-path switching mechanisms are described. Moreover, entire equipped with these presented. performance was validated through grasping, placing, manipulation tests.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3157964