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Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation

Robotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demon...

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Detalles Bibliográficos
Autores principales: Zhang, Yin, Zhang, Wang, Gao, Pan, Zhong, Xiaoqing, Pu, Wei
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9747793/
https://www.ncbi.nlm.nih.gov/pubmed/36513668
http://dx.doi.org/10.1038/s41467-022-35479-9
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author Zhang, Yin
Zhang, Wang
Gao, Pan
Zhong, Xiaoqing
Pu, Wei
author_facet Zhang, Yin
Zhang, Wang
Gao, Pan
Zhong, Xiaoqing
Pu, Wei
author_sort Zhang, Yin
collection PubMed
description Robotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demonstrate a rapid energy harvesting and dissipation mechanism for the soft grippers leveraging the finger-palm synergy. Theoretically and experimentally, this mechanism enables a soft gripper to reliably capture high-speed targets by dissipating and harvesting almost all the target’s kinetic energy within 30 milliseconds. The energy harvesting and dissipating capability are adjustable and can be enhanced by inflating pressure. Additionally, the harvested energy is autonomously transferred into fingers to enhance their grasping force and reduce the response time. To highlight, the grippers we developed are integrated into a six-rotor drone and successfully capture flying objects in an outdoor experiment. These results significantly advance robotics development in achieving dynamic capture of dynamic targets.
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spelling pubmed-97477932022-12-15 Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation Zhang, Yin Zhang, Wang Gao, Pan Zhong, Xiaoqing Pu, Wei Nat Commun Article Robotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demonstrate a rapid energy harvesting and dissipation mechanism for the soft grippers leveraging the finger-palm synergy. Theoretically and experimentally, this mechanism enables a soft gripper to reliably capture high-speed targets by dissipating and harvesting almost all the target’s kinetic energy within 30 milliseconds. The energy harvesting and dissipating capability are adjustable and can be enhanced by inflating pressure. Additionally, the harvested energy is autonomously transferred into fingers to enhance their grasping force and reduce the response time. To highlight, the grippers we developed are integrated into a six-rotor drone and successfully capture flying objects in an outdoor experiment. These results significantly advance robotics development in achieving dynamic capture of dynamic targets. Nature Publishing Group UK 2022-12-13 /pmc/articles/PMC9747793/ /pubmed/36513668 http://dx.doi.org/10.1038/s41467-022-35479-9 Text en © The Author(s) 2022 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Zhang, Yin
Zhang, Wang
Gao, Pan
Zhong, Xiaoqing
Pu, Wei
Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title_full Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title_fullStr Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title_full_unstemmed Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title_short Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
title_sort finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9747793/
https://www.ncbi.nlm.nih.gov/pubmed/36513668
http://dx.doi.org/10.1038/s41467-022-35479-9
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