Abstract
We present a kirigami-inspired design scheme for a robotic hand by 3D printable folds and cuts. The unique contribution is the printable flexible hand, which provides flexibility and maneuverability that is unavailable in rigid robotic systems. The integration of sensors in the robotic system enables force adjustment for robotic systems applicable in the future. The experimental results have shown that this design can perform everyday tasks through grasping and pinching different items. The fingers can bend from 40 to 100 degrees. Furthermore, the direct printable kirigami cuts and folds from soft elastic printable materials have significant potential for prosthetic devices. The printable kirigami design framework opens the possibility for future developments and modifications in numerous robotic applications.
| Original language | English |
|---|---|
| Pages (from-to) | 668-677 |
| Number of pages | 10 |
| Journal | Journal of Bionic Engineering |
| Volume | 19 |
| Issue number | 3 |
| Early online date | 24 Mar 2022 |
| DOIs | |
| Publication status | Published - May 2022 |
Bibliographical note
Funding Information:This work was supported by Singapore Academic Research Fund under Grant R397000353114.
Keywords
- Kirigami-inspired design
- Prosthetic
- Soft materials
- Three-dimensional printing