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

## TL;DR

This paper introduces a durable, self-healing robotic hand for construction tasks that can grasp objects and recover from damage.

## Contribution

The novel integration of a pre-stressed reversible mechanism and a self-healing polymer in a robotic hand for construction is presented.

## Key findings

- PSRM grippers can hold objects without external pressure (12 mm displacement under 1.2 N applied).
- The SHM material recovers mechanical properties after damage.
- The robotic hand successfully performed construction tasks like painting and block stacking.

## 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.