When grasping objects,humanoid robotic hands need to possess motion adaptability while demonstrating good flexibility and grasping stiffness when interacting with unstructured environments.Therefore,this research proposes a novel design and manufacturing method for rigid-soft coupling humanoid robotic hands based on grasping stiffness enhancement method,inspired by the natural rigid-soft structure and grasping characteristics of human fingers.Firstly,the principle of rigid-soft coupling design for humanoid robotic fingers and the methodology for selecting finger parameters are presented.The study then expands the application of these principle and methodology to accommodate multi-joint fingers.Secondly,an in-depth analysis of the deformation of the finger's flexible body under external forces,both before and after enhancing grasping stiffness,is conducted to achieve stable grasping with a two-fingered gripper.On this basis,a multi-material layering manufacturing method for rigid-soft coupling humanoid robotic fingers is proposed,along with the overall structural design of the humanoid robotic hand.Finally,a series of experimental studies on grasping with the rigid-soft coupling humanoid robotic hand is performed to validate the effectiveness of the proposed method,followed by a comprehensive discussion of potential alternative applications for the rigid-soft coupling fingers.
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