Unlike traditional rigid robots primarily made of metals, soft robots composed of flexible materials such as silicone are gaining attention. Their flexibility enables gentle contact with objects and allows them to deform and adapt to various shapes and environments. However, analyzing soft materials is more challenging than analyzing rigid ones, and the theoretical foundations supporting these advantages remain unclear. To address this, our laboratory is engaged in research and development of models and control methods based on mechanics. By investigating the fundamental principles of how flexibility benefits robotics, we aim to explore optimal combinations of soft and rigid structures.
Hybrid Soft-Rigid Robot Hand
Soft grippers made of flexible materials conform to object shapes, wrapping around them to achieve stable grasping while preventing damage to delicate or fragile objects. However, due to their low stiffness, their motion can be inconsistent, making precise fingertip manipulation challenging. This study proposes a robotic hand that combines rigid actuated joints with soft link structures, leveraging the flexibility of soft grippers while enabling fine in-hand manipulation.
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Expandable and Flexible Continuum Robot Hand
In-hand manipulation is a technique that allows adjusting an object’s position and orientation using only the fingers, without relying on a robotic arm. This is particularly useful in factory tasks and precision operations. However, current robotic hands are constrained by joint limitations, making free object manipulation difficult. In this study, we propose using an expandable continuum robot as a robotic finger, which enables a broader range of object manipulation compared to conventional robotic hands.
Compliant Joint Module
Collaborative robots inevitably interact with their environment, requiring adaptability to external forces for safety. This study developed a compliant joint module incorporating viscous elements and a differential mechanism. This approach maintains high reduction ratios and precise position control while enabling bidirectional actuation.
