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Design and Analysis of a Soft-Fingered Hand With Contact Feedback

This paper presents a novel approach to the fabrication of a soft robotic hand with contact feedback for grasping delicate objects. Each finger has a multilayered structure, consisting of a main structure and sensing elements. The main structure includes a softer layer much thicker than a stiffer layer. The gripping energy of the fingers is generated from the elastic energy of the prestretched softer layers, and controlled by simple tendon strings pulled/released by a single actuation. Due to the prestretching and the difference in moduli among layers, the shape/posture of the fingers in stable state is similar to that of soft fingers actuated by pressurization. Then, we were able to design a soft-fingered hand for different applications by changing the morphological shape of layers. In addition, the hand includes a soft, flexible, and stretchable sensing element for the detection of contact and applied force, which can also be used in other designs of soft fingers. We assessed the ability of the proposed soft hand to grasp food products with feedback of contact location. The experimental results showed that the proposed hand could safely grasp light and delicate objects, such as fruits, and that it could possibly distinguish among objects based on feedback from sensors. The design proposed in this paper may give rise to other soft hand designs, along with the possibility of using morphological imbalanced deformation of multilayered structures in soft robotics research.