Soft Robotic Hands
Soft robotic grippers enable gentle, adaptive, and bioinspired manipulation that is simply not possible using traditional rigid robots. However, it has remained challenging to create multi-degree-of-freedom soft actuators with appropriate sensory capabilities for soft manipulators requiring greater dexterity and closed-loop control. We use casting, printable hydraulics, or embedded 3D printing techniques to produce soft robotic fingers with discrete actuation modes and integrated soft sensors that provide proprioceptive and tactile sensing.
Projects
- Biomimetic Tendon-Driven Hand
- Somatosensitive Soft Robotic Fingers
- Proprioceptive Soft Robotic Hand
- Printable Hydraulics for Soft Grippers
- Task-defined Pulley Design for Nonlinearly Coupled Tendon-driven Actuation
- Multi-tap Resistive Sensing and FEM Modeling enables Shape and Force Estimation in Soft Robots
- Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
Publications
R. Truby, R. Katzschmann, J. Lewis, D. Rus, “Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation.” IEEE RoboSoft, Apr 2019. external page Read Paper
B. Homberg*, R. Katzschmann*, M. Dogar, and D. Rus, “Haptic Identification of Objects using a Modular Soft Robotic Gripper,” IROS, Hamburg, Sept. 2015. external page Read Paper
B. Homberg*, R. Katzschmann*, M. Dogar, D. Rus, “Robust Proprioceptive Grasping with a Soft Robot Hand.” Autonomous Robots, Apr 2018. external page Read Paper
R. MacCurdy, R. Katzschmann, Y. Kim, and D. Rus, “Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids.” ICRA, Stockholm, 2016. external page Read Paper