Full Content is available to subscribers

Subscribe/Learn More  >

Experimental Analysis of the Bending Response of Soft Gripper Fingers

[+] Author Affiliations
Khaled Elgeneidy, Niels Lohse, Michael Jackson

Loughborough University, Loughborough, UK

Paper No. DETC2016-59630, pp. V05BT07A064; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5016-9
  • Copyright © 2016 by ASME


In this paper a common design for soft actuators with internal pneumatic networks is analysed for the application of passively compliant soft gripper fingers, which can effectively grasp complex and delicate objects. The behaviour of a soft finger upon actuation is primarily determined through its predefined morphology. Hence, understanding the effects of key design parameters on the desired bending response is essential to design improved soft fingers. An experiment was designed to analyse the effects of two dimensionless design parameters defining the geometry of the internal pneumatic channels, on measurable parameters that describe the bending response of soft fingers as well as the generated contact forces. Soft finger samples were designed and produced based on combinations of different levels of the studied parameters, with the same outer dimensions and material. The experiment setup utilises a pneumatic control board for controlling the actuation and a vision system for measuring the bending response, which can be modified to analyse other designs of soft actuators. The results of the experiment identified the best performing soft finger design, explaining the effect of the studied factors in enhancing its desired response. The outcome of this work serves as a step towards a more structured design guideline that can be followed to create soft fingers with an enhanced and more predictable grasping behaviour.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In