Design and Control of Foam Hands for Dexterous Manipulation
There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.
Bauer, Dominik; Bauer, Cornelia; King, Jonathan P.; Moro, Daniele; Chang, Kai-Hung; Coros, Stelian; and Pollard, Nancy. (2020). "Design and Control of Foam Hands for Dexterous Manipulation". International Journal of Humanoid Robotics, 17(1), 1950033. https://doi.org/10.1142/S0219843619500336