Soft Hydraulic Robotic Hand for Fine In-Hand Manipulation
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Solution Overview
Problem
Traditional rigid actuation mechanisms in robotics fall short in achieving compliance and adaptability required for intricate tasks, limiting the dexterity and precision of robotic hands.
Innovation Solution
A robotic hand with a soft hydraulic actuation mechanism using bellows-type deformable actuators driven by syringe pumps, integrated with universal joints and proprioceptive sensors, enabling fine manipulation and adaptability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rigid actuation mechanisms are used, then structural strength and stability are maintained, but compliance and adaptability for fine manipulation are insufficient
Solution Approach 1:
The patent employs soft hydraulic actuators with flexible bellows-type structures that can deform under pressure. These actuators are integrated into the robotic finger joints, replacing rigid mechanical linkages with compliant soft components that can adapt to various object shapes and surfaces while maintaining sufficient structural strength through the hydraulic pressure transmission system.
Solution Approach 2:
The system dynamically adjusts the stiffness parameter of the actuation mechanism by controlling hydraulic pressure levels. When high compliance is needed for delicate manipulation, lower pressure maintains a softer, more compliant state. When structural strength is required, higher pressure stiffens the actuator, resolving the contradiction between adaptability and strength through parameter modulation.
2Adaptability or versatility
If soft hydraulic actuators are introduced to improve compliance, then adaptability for delicate tasks increases, but device complexity increases
Solution Approach 1:
The patent utilizes hydraulic principles by employing fluid-filled bellows-type actuators that transmit pressure uniformly throughout the soft structure. This hydraulic approach simplifies the actuation mechanism compared to traditional rigid mechanical systems, as the fluid pressure automatically distributes forces appropriately across the compliant structure, reducing the need for complex mechanical linkages and joints.
Solution Approach 2:
The soft hydraulic actuators serve multiple functions simultaneously: they provide actuation force, maintain compliance, enable adaptability to different objects, and simplify the mechanical structure. This multi-functionality reduces overall device complexity by consolidating what would traditionally require separate mechanical components into a single integrated soft actuator system.
3Ease of operation
If soft hydraulic actuators with high expansion ratios are used, then fine manipulation capability improves, but force output may be reduced
Solution Approach 1:
The robotic hand incorporates multiple soft hydraulic actuators distributed across different finger joints and segments. Each actuator provides localized force with appropriate expansion ratio for its specific manipulation task. The segmentation allows different parts of the hand to have different force characteristics optimized for their specific functions, maintaining fine manipulation capability while ensuring sufficient overall force output through coordinated actuation.
Solution Approach 2:
The system modulates the expansion ratio and force output parameters of the hydraulic actuators dynamically based on the manipulation task requirements. For tasks requiring fine manipulation, the actuators operate with higher expansion ratios and lower force. For tasks requiring force, the parameters are adjusted to provide appropriate force output, resolving the contradiction through adaptive parameter control rather than fixed design.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The soft hydraulic actuation mechanism provides high compliance, adaptability, and precise control, allowing the robotic hand to mimic human dexterity and perform delicate tasks without damaging objects, with bidirectional driving and real-time feedback.
Implementation Method 1
a first hydraulic actuator, configured to operatively connect the first phalanx with the second phalanx, wherein the first hydraulic actuator includes a soft, bellows-type deformable body, such that when in operation, the first hydraulic actuator is switchable between at least a compression status and an extension status, in response to external force and/or hydraulic pressure applied thereto
Implementation Method 2
the DexCo hand employs a soft hydraulic actuation mechanism where syringe pumps control the hydraulic fluid volume in the actuators, providing high force output and precise control over finger movements
Data Source
AI summary
In one aspect, provided is a robotic hand, comprising a plurality of robotic fingers; and a robotic palm, configured to operatively connect with the plurality of robotic fingers, wherein individual robotic finger comprises: a first phalanx; a second phalanx; and a first hydraulic actuator, configured to operatively connect the first phalanx with the second phalanx, wherein the first hydraulic actuator comprises a soft, bellows-type deformable body, such that when in operation, the first hydraulic actuator is switchable between at least a compression status and an extension status, in response to external force and/or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the disclosure provides robotic hands and systems that showed high degrees of compliance, adaptability, and precise control for robotic applications and addressed the challenge of achieving robotic fine in-hand manipulation.