Printable Kirigami-inspired Flexible and Soft Anthropomorphic Robotic Hand

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Published copy (DOI)



Publication details

JournalJournal of Bionic Engineering
DateAccepted/In press - 23 Feb 2022
DateE-pub ahead of print - 24 Mar 2022
DatePublished (current) - May 2022
Issue number3
Number of pages10
Pages (from-to)668-677
Early online date24/03/22
Original languageEnglish


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.

Bibliographical note

Funding Information:
This work was supported by Singapore Academic Research Fund under Grant R397000353114.

    Research areas

  • Kirigami-inspired design, Prosthetic, Soft materials, Three-dimensional printing

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