Abstract
A pneumatic soft robot hand which imitates the shapes and gestures of human hand is introduced in this article. Soft robotics, 3D printing technology, and casting technology are used to fabricate the soft robot hand. The robot hand consists of palm and fingers. The thumb has two joints, and other four fingers have three joints. The fingers are driven by soft actuators which are made of highly extensible, elastomeric material (Ecoflex 00-30; Smooth-On, Inc.). Kinematics model is established based on the homogeneous coordinate transformation matrix. The soft robot hand has good flexibility and compliance; thus, it can perform complex gestures and grasp objects with different shapes. The robot hand is mainly made of silicon rubber which makes it light in weight and compatible with different objects; additionally, it is even capable of lifting heavy objects. The heaviest object it can grasp weighs 0.55 kg. The pneumatic soft humanoid robot hand can be applied in industrial manufacturing and medical field.
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