A Soft Robotic Gripper with Hybrid Structure and Grasping Reliability

A major limitation in the adoption of robot manipulation systems is the lack of flexible gripping mechanisms as existing robotic systems are unable to automate variable objects and unstructured tasks.

• The invention describes a distinctive method to realize robust and compliant grasping, combining a soft linear pneumatic actuator with a rigid joint.
• The whole system considers design affordability, with a modular finger structure easily modified into different end-effector structures depending on the working requirement.
• The soft actuator provides inherent compliance. The pin joint provides the structural rigidity. The soft-rigid-hybrid mechanism is a good solution for adaptable and robust grasping.

• Lightweight and high payload ratio (25x payload to self-weight)
• Outstanding grasping dexterity with 4 different grasping modes
• Low-cost design and simple maintenance
• Compliant soft joint design, hybrid structure for improved stability and rigidity and pneumatic drive with control electronics

• Service robot to deal with delicate objects
• Medical robots to rehabilitate patients
• Wearable robot to interact with human, etc.

• PCT Application No. PCT/CN2018/120518
• US Application No. 16/769,376
• CN Application NO. 201880080833.X