Structural Optimization of Adaptive Soft Fin Ray Fingers with Variable Stiffening Capability

Khaled Elgeneidy, Adel Fansa, Irfan Hussain, Khaled Goher

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

26 Scopus citations

Abstract

Soft and adaptable grippers are desired for their ability to operate effectively in unstructured or dynamically changing environments, especially when interacting with delicate or deformable targets. However, utilizing soft bodies often comes at the expense of reduced carrying payload and limited performance in high-force applications. Hence, methods for achieving variable stiffness soft actuators are being investigated to broaden the applications of soft grippers. This paper investigates the structural optimization of adaptive soft fingers based on the Fin Ray® effect (Soft Fin Ray), featuring a passive stiffening mechanism that is enabled via layer jamming between deforming flexible ribs. A finite element model of the proposed Soft Fin Ray structure is developed and experimentally validated, with the aim of enhancing the layer jamming behavior for better grasping performance. The results showed that through structural optimization, initial contact forces before jamming can be minimized and final contact forces after jamming can be significantly enhanced, without downgrading the desired passive adaptation to objects. Thus, applications for Soft Fin Ray fingers can range from adaptive delicate grasping to high-force manipulation tasks.

Original languageBritish English
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages779-784
Number of pages6
ISBN (Electronic)9781728165707
DOIs
StatePublished - May 2020
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: 15 May 202015 Jul 2020

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
Country/TerritoryUnited States
CityNew Haven
Period15/05/2015/07/20

Keywords

  • Fin Ray Effect
  • Finite Element Analysis
  • Layer Jamming
  • Optimization
  • soft grippers

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