Assessment of soft materials for anthropomorphic soft robotic fingertips

Abstract

Abstract In recent decades, research on soft robot manipulations and their materials attracted a huge momentum among various researchers. Selection of appropriate soft material is a vital role in robotic fingertip design, which enables the object to be held in proper orientation without slip and damage. Development of such an anthropomorphic type of soft hand requires knowledge about material selection, types of finger contact and the mechanism behind grasping. This research work presents a comprehensive comparison of six chosen soft materials with human skin for improved robotic manipulation. Extensive research is required to develop such soft hands for better manipulation becausein the final analysis, the human hand is the best soft manipulator as it conforms to objects easily through good contact with an object. In the past decades, many researchers have tried to replace metal hand of robots with appropriate soft materials to enable better manipulation. In this work, the magnitude of contact area, contact pressure and vertical depression of six soft materials was compared with human skin with respect to precision grasping. The simulation results clearly show that neoprene rubber exhibits a close relationship with the characteristics of human skin.