Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator
Soft robotic hands have gained significant attention in recent years due to their simplicity in control, ease of fabrication, and remarkable compliance. However, traditional designs often suffer from limited contact area and insufficient grasping force. In this study, we propose a novel four-finger...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-03-01
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| Series: | Results in Engineering |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123024017080 |
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| author | Hui Chen Mohammed A.H. Ali Zhenya Wang Junlong Chen Montaser N.A. Ramadan Mohammad Alkhedher |
| author_facet | Hui Chen Mohammed A.H. Ali Zhenya Wang Junlong Chen Montaser N.A. Ramadan Mohammad Alkhedher |
| author_sort | Hui Chen |
| collection | DOAJ |
| description | Soft robotic hands have gained significant attention in recent years due to their simplicity in control, ease of fabrication, and remarkable compliance. However, traditional designs often suffer from limited contact area and insufficient grasping force. In this study, we propose a novel four-finger pneumatic soft robotic hand with wave-shaped contour actuators to address these issues. Inspired by natural grasping mechanisms, the proposed design integrates multiple actuation modes to enhance both adaptability and reliability. An analytical model based on constant curvature bending theory and the Yeoh constitutive model is developed to guide the design and predict the performance of the actuators. The model is validated through extensive Abaqus finite element simulations, demonstrating excellent agreement with experimental results. Our findings confirm that the actuators achieve consistent and reliable bending motion with optimal structural parameters. Experimental evaluation of the soft robotic hand includes bending trajectory analysis and grasping tests with various irregular objects. The results show that the actuators provide a maximum bending angle of 180° under 26 kPa pressure and maintain stable grasps for objects of different shapes and sizes. The soft robotic hand demonstrates superior grasping adaptability and reliability due to its high compliance and optimized design. This study paves the way for practical applications in industrial automation, medical devices, and service robotics, highlighting the potential of wave-shaped contour actuators in enhancing the functionality of soft robotic hands. |
| format | Article |
| id | doaj-art-0bdff989c4fe40cf90f555ebb6fbc277 |
| institution | OA Journals |
| issn | 2590-1230 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Engineering |
| spelling | doaj-art-0bdff989c4fe40cf90f555ebb6fbc2772025-08-20T02:38:05ZengElsevierResults in Engineering2590-12302025-03-012510345610.1016/j.rineng.2024.103456Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuatorHui Chen0Mohammed A.H. Ali1Zhenya Wang2Junlong Chen3Montaser N.A. Ramadan4Mohammad Alkhedher5Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, MalaysiaDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia; Corresponding authors.Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; Corresponding authors.Faculty of Engineering, School of Electrical and Computer Engineering, The University of Sydney, Camperdown/Darlington, Sydney, AustraliaDepartment of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, MalaysiaMechanical and Industrial Engineering Department, Abu Dhabi University, Zayed City, Abu Dhabi 59911, United Arab EmiratesSoft robotic hands have gained significant attention in recent years due to their simplicity in control, ease of fabrication, and remarkable compliance. However, traditional designs often suffer from limited contact area and insufficient grasping force. In this study, we propose a novel four-finger pneumatic soft robotic hand with wave-shaped contour actuators to address these issues. Inspired by natural grasping mechanisms, the proposed design integrates multiple actuation modes to enhance both adaptability and reliability. An analytical model based on constant curvature bending theory and the Yeoh constitutive model is developed to guide the design and predict the performance of the actuators. The model is validated through extensive Abaqus finite element simulations, demonstrating excellent agreement with experimental results. Our findings confirm that the actuators achieve consistent and reliable bending motion with optimal structural parameters. Experimental evaluation of the soft robotic hand includes bending trajectory analysis and grasping tests with various irregular objects. The results show that the actuators provide a maximum bending angle of 180° under 26 kPa pressure and maintain stable grasps for objects of different shapes and sizes. The soft robotic hand demonstrates superior grasping adaptability and reliability due to its high compliance and optimized design. This study paves the way for practical applications in industrial automation, medical devices, and service robotics, highlighting the potential of wave-shaped contour actuators in enhancing the functionality of soft robotic hands.http://www.sciencedirect.com/science/article/pii/S2590123024017080Soft robotic surfacePneumatic gripperWave-Shaped contour actuatorsSoft roboticsYeoh model |
| spellingShingle | Hui Chen Mohammed A.H. Ali Zhenya Wang Junlong Chen Montaser N.A. Ramadan Mohammad Alkhedher Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator Results in Engineering Soft robotic surface Pneumatic gripper Wave-Shaped contour actuators Soft robotics Yeoh model |
| title | Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator |
| title_full | Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator |
| title_fullStr | Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator |
| title_full_unstemmed | Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator |
| title_short | Performance optimizing of pneumatic soft robotic hands using wave-shaped contour actuator |
| title_sort | performance optimizing of pneumatic soft robotic hands using wave shaped contour actuator |
| topic | Soft robotic surface Pneumatic gripper Wave-Shaped contour actuators Soft robotics Yeoh model |
| url | http://www.sciencedirect.com/science/article/pii/S2590123024017080 |
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