油圧駆動ソフトフィンガの試作設計と評価

抄録

The purpose of this study is to realize a robotic hand that is capable of high output force and safe contact with the environment. In this paper, we propose soft robotic fingers driven by hydraulic pressure and describe design, fabrication and evaluation of our prototype of soft robotic fingers. We perform finite element analyses to simulate a bending motion of the finger. An experimental validation of the prototype finger is also shown.