Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic

TL;DR

This paper introduces an underwater soft robotic hand with bio-inspired design, capable of flexible grasping of various objects underwater, driven by a water hydraulic system for precise control.

Contribution

It presents a novel underwater soft robotic hand with multi-freedom fingers and palm, integrating a water hydraulic control system for enhanced grasping flexibility.

Findings

Successfully demonstrated flexible grasping of different objects underwater

Achieved high-pressure control with fine fluid regulation

Developed an integrated underwater soft robot hand platform

Abstract

A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and soft palm, which realizes the characteristic grasping function of forehand and backhand. Combined with the fine fluid control system, the soft hand can realize flexible grasping under high pressure, so as to realize flexible grasping operation for different types of target objects in the underwater environment. The soft robot hand was controlled based on water hydraulic platform, Finally, the soft robot hand and the fine fluid control system were connected to form the underwater soft robot hand experiment platform.