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Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure

School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, University Kebangsaan Malaysia, Bangi 43600, Malaysia
Authors to whom correspondence should be addressed.
Academic Editor: Valentina Vasilevskaya
Materials 2022, 15(4), 1358;
Received: 7 January 2022 / Revised: 7 February 2022 / Accepted: 11 February 2022 / Published: 13 February 2022
This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out. View Full-Text
Keywords: soft gripper; liquid silicone rubber; rigid-flexible coupling; mechanical modeling; motor micropump soft gripper; liquid silicone rubber; rigid-flexible coupling; mechanical modeling; motor micropump
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MDPI and ACS Style

Chen, C.; Sun, J.; Wang, L.; Chen, G.; Xu, M.; Ni, J.; Ramli, R.; Su, S.; Chu, C. Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure. Materials 2022, 15, 1358.

AMA Style

Chen C, Sun J, Wang L, Chen G, Xu M, Ni J, Ramli R, Su S, Chu C. Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure. Materials. 2022; 15(4):1358.

Chicago/Turabian Style

Chen, Chang, Jiteng Sun, Long Wang, Guojin Chen, Ming Xu, Jing Ni, Rizauddin Ramli, Shaohui Su, and Changyong Chu. 2022. "Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure" Materials 15, no. 4: 1358.

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