Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper
This paper presents the design, fabrication, and characterization of a new soft robotic finger capable of bidirectional bending using single-port pneumatic actuation. Unlike the conventional soft pneumatic finger designs that require multiple input ports and/or actuation methods (i.e., positive and...
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10813339/ |
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| author | Rene M. Suarez Flores Sajid Nisar |
| author_facet | Rene M. Suarez Flores Sajid Nisar |
| author_sort | Rene M. Suarez Flores |
| collection | DOAJ |
| description | This paper presents the design, fabrication, and characterization of a new soft robotic finger capable of bidirectional bending using single-port pneumatic actuation. Unlike the conventional soft pneumatic finger designs that require multiple input ports and/or actuation methods (i.e., positive and negative pressure), the proposed soft actuator uses a pre-curved body design to achieve bidirectional bending with a single port and a single actuation method (i.e., positive pneumatic pressure only), simplifying both fabrication and control. Finite Element Analysis is used to refine the finger design to achieve the desired bending capabilities and tip force. The finger prototype is fabricated using silicone casting, and its performance is characterized over a pressure range of 0-100 kPa. Experimental results demonstrate a bending range of 68° [<inline-formula> <tex-math notation="LaTeX">$- 34^{\circ } ~34^{\circ } $ </tex-math></inline-formula>] for the applied pressure range and a maximum tip force of 2.72 N at 100 kPa. A three-finger robot gripper is developed, and grasping experiments are conducted to showcase the gripper’s ability to successfully grasp objects of various sizes, shapes, and textures. The bidirectional bending allows the gripper to grasp objects exceeding its normal grasp area three times (18 cm). |
| format | Article |
| id | doaj-art-c6d9514fae16400c8fc6dc2f95dd3f0b |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| series | IEEE Access |
| spelling | doaj-art-c6d9514fae16400c8fc6dc2f95dd3f0b2025-08-20T03:11:55ZengIEEEIEEE Access2169-35362025-01-0113301273013610.1109/ACCESS.2024.352207610813339Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot GripperRene M. Suarez Flores0https://orcid.org/0009-0001-9522-7579Sajid Nisar1https://orcid.org/0000-0003-0382-8367Department of Mechanical and Electrical Systems Engineering, Graduate School of Engineering, Kyoto University of Advanced Science, Kyoto, JapanDepartment of Mechanical and Electrical Systems Engineering, Graduate School of Engineering, Kyoto University of Advanced Science, Kyoto, JapanThis paper presents the design, fabrication, and characterization of a new soft robotic finger capable of bidirectional bending using single-port pneumatic actuation. Unlike the conventional soft pneumatic finger designs that require multiple input ports and/or actuation methods (i.e., positive and negative pressure), the proposed soft actuator uses a pre-curved body design to achieve bidirectional bending with a single port and a single actuation method (i.e., positive pneumatic pressure only), simplifying both fabrication and control. Finite Element Analysis is used to refine the finger design to achieve the desired bending capabilities and tip force. The finger prototype is fabricated using silicone casting, and its performance is characterized over a pressure range of 0-100 kPa. Experimental results demonstrate a bending range of 68° [<inline-formula> <tex-math notation="LaTeX">$- 34^{\circ } ~34^{\circ } $ </tex-math></inline-formula>] for the applied pressure range and a maximum tip force of 2.72 N at 100 kPa. A three-finger robot gripper is developed, and grasping experiments are conducted to showcase the gripper’s ability to successfully grasp objects of various sizes, shapes, and textures. The bidirectional bending allows the gripper to grasp objects exceeding its normal grasp area three times (18 cm).https://ieeexplore.ieee.org/document/10813339/Bidirectional gripperpneumatic actuationrobotic graspingsingle-port actuationsoft fingersoft gripper |
| spellingShingle | Rene M. Suarez Flores Sajid Nisar Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper IEEE Access Bidirectional gripper pneumatic actuation robotic grasping single-port actuation soft finger soft gripper |
| title | Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper |
| title_full | Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper |
| title_fullStr | Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper |
| title_full_unstemmed | Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper |
| title_short | Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper |
| title_sort | design and performance analysis of a single port bidirectional soft actuator and its integration into a versatile 3 finger robot gripper |
| topic | Bidirectional gripper pneumatic actuation robotic grasping single-port actuation soft finger soft gripper |
| url | https://ieeexplore.ieee.org/document/10813339/ |
| work_keys_str_mv | AT renemsuarezflores designandperformanceanalysisofasingleportbidirectionalsoftactuatoranditsintegrationintoaversatile3fingerrobotgripper AT sajidnisar designandperformanceanalysisofasingleportbidirectionalsoftactuatoranditsintegrationintoaversatile3fingerrobotgripper |