吸着も可能な多機能ソフトロボットハンドの開発

抄録

The purpose of this study is to develop a soft robot hand that can grasp any shape or characteristic object due to the expansion of the actuator applied positive pressure and vacuum adsorption due to negative pressure. The actuator made of soft material has advantage to grasp a complex shape or fragile objects and can pick up a flat plate and objects with large radius by vacuum adsorption. In addition, by generating negative pressure from positive pressure source, it is possible to operate this a system with a single pressure source. In this paper, we describe the outline of the soft fingers and then the performance of this finger is verified experimentally.