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Volume 10
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10.3390/biomimetics10050284
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Article

Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers

by
Mijin Kim
1,2,
Rubaya Yaesmin
3,4,
Hyungtak Seo
3,5,* and
Hwang Yi
1,2,*
1
Architectural Research of Technology & Scientific Design (ARTS) Lab, Seoul 02841, Republic of Korea
2
Department of Architecture, College of Engineering, Korea University, Seoul 02841, Republic of Korea
3
Department of Energy Systems Research, Ajou University, Suwon 16499, Republic of Korea
4
Engineering Research Institute, Ajou University, Suwon 16499, Republic of Korea
5
Department of Materials Science and Engineering, Ajou University, Suwon 16499, Republic of Korea
*
Authors to whom correspondence should be addressed.
Biomimetics 2025, 10(5), 284; https://doi.org/10.3390/biomimetics10050284
Submission received: 24 March 2025 / Revised: 26 April 2025 / Accepted: 29 April 2025 / Published: 1 May 2025
(This article belongs to the Special Issue Advancements in Nature-Inspired Engineering: Integrating Biomimicry into Modern Design Practices)
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Abstract

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional pneumatic grippers often suffer from air leakage and tear, particularly under prolonged grasping and inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) and a novel self-healing material (SHM) polyborosiloxane–Ecoflex™ hybrid polymer (PEHP) developed by the authors. The results demonstrate that PSRM finger grippers can hold various objects without external pressure input (12 mm displacement under a 1.2 N applied), and the SHM assists with recovery of mechanical properties upon external damage. The proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, and block stacking, showcasing its durability and functional performance. These findings contribute to promoting the cost-effective deployment of soft robotic hands in robotic construction.
Keywords: robotic architecture; building construction; self-healing materials; soft robot; robot-arm gripper robotic architecture; building construction; self-healing materials; soft robot; robot-arm gripper

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MDPI and ACS Style

Kim, M.; Yaesmin, R.; Seo, H.; Yi, H. Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers. Biomimetics 2025, 10, 284. https://doi.org/10.3390/biomimetics10050284

AMA Style

Kim M, Yaesmin R, Seo H, Yi H. Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers. Biomimetics. 2025; 10(5):284. https://doi.org/10.3390/biomimetics10050284

Chicago/Turabian Style

Kim, Mijin, Rubaya Yaesmin, Hyungtak Seo, and Hwang Yi. 2025. "Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers" Biomimetics 10, no. 5: 284. https://doi.org/10.3390/biomimetics10050284

APA Style

Kim, M., Yaesmin, R., Seo, H., & Yi, H. (2025). Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers. Biomimetics, 10(5), 284. https://doi.org/10.3390/biomimetics10050284

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