Fig. 4: Finger performance and palm-assisted grasping.
From: Soft robotic hand with tactile palm-finger coordination
a Workspace of the soft finger represented by the captured fingertip trajectories. The two segments of the finger are actuated with pressures [p1, p2], each ranging from 0 to 150 kPa. The abbreviations PA, DA, and UA denote proximal actuation, distal actuation, and uniform actuation, respectively. b Measured finger bending angles under varied supplied pressures in three actuation modes. c Measured fingertip force under varied supplied pressures in three actuation modes. d Illustration of TacPalm SoftHand with a single finger actuated and all fingers actuated in three modes. e Demonstrations of TacPalm SoftHand performing multimodal grasping from precision pinch to power wrap. f Demonstration of TacPalm SoftHand with (upper panel) or without (lower panel) tactile feedback grasping an object during a high-speed delivery task. The object is initially placed on the desk. g Demonstration of TacPalm SoftHand with (upper panel) or without (lower panel) tactile feedback grasping a cup cap during an easy-slip picking up task. The success rate in each panel is calculated based on n = 20 experimental trials.
