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Open AccessArticle
Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling †
by
Sheng-Guan Lin
Sheng-Guan Lin 1
and
Jen-Yuan (James) Chang
Jen-Yuan (James) Chang 1,2,*
1
Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan
2
Department of Mechanical and Computer-Aided Engineering, National Formosa University, Yunlin 63201, Taiwan
*
Author to whom correspondence should be addressed.
†
This paper is an extended version of our paper published in Lin, SG., Chang, JY. Design of an Adaptive Anthropomorphic Finger with Modular Soft Actuators. In Mechanisms and Machine Science, In Proceedings of the 16th IFToMM World Congress 2023, Tokyo, Japan, 5–10 November 2023; Springer: Cham, Switzerland; Berlin/Heidelberg, Germany.
Robotics 2024, 13(8), 116; https://doi.org/10.3390/robotics13080116 (registering DOI)
Submission received: 22 June 2024
/
Revised: 19 July 2024
/
Accepted: 26 July 2024
/
Published: 28 July 2024
Abstract
This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pressure regulation in each air chamber, thus achieving superior precision compared to traditional PneuNets soft actuators. A rigid skeleton is integrated to enhance force transmission and measurement capabilities and thus ensure effective force handling and transmission within each module. The versatility of the actuator is demonstrated through its adaptability in various scenarios, and its features include adaptive positional control achieved by modulating the inflation in each air chamber. This research includes kinematic and kinetostatic analyses to ensure precise control of joint angles and forces at the finger’s endpoint. Experimental results confirm the actuator’s excellent performance and adaptability, providing valuable insights for advancing soft-actuator technology. The findings suggest significant potential for this actuator in diverse applications, emphasizing its role in the future development of precise and adaptable robotic systems.
Share and Cite
MDPI and ACS Style
Lin, S.-G.; Chang, J.-Y.
Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling. Robotics 2024, 13, 116.
https://doi.org/10.3390/robotics13080116
AMA Style
Lin S-G, Chang J-Y.
Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling. Robotics. 2024; 13(8):116.
https://doi.org/10.3390/robotics13080116
Chicago/Turabian Style
Lin, Sheng-Guan, and Jen-Yuan (James) Chang.
2024. "Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling" Robotics 13, no. 8: 116.
https://doi.org/10.3390/robotics13080116
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