Embedding Soft Synergies into Soft Materials for Intrinsic Compliant Robotic Hand Grasping

This manuscript covers the development workflow for the prototype of a novel synergy driven soft robotic hand. By embedding the main human grasping synergy to individual soft silicone fingers, we are able to produce a functional underactuated hand with fingers composed uniquely of soft materials and no electronic parts. An iterative design workflow based on specialized software for soft robots is employed, defining the target response for the individual fingers through a human-inthe-loop optimization process. The result is a low-cost compliant hand capable of replicating a programmed human grasp synergy using few mechanical components. The use of simulation reduced the need of produced prototypes, requiring only an initial characterization model, slashing waste of un-recyclable materials and production costs. Grasping quality was demonstrated with a variety of objects, with a success rate of 80% for the test items and grip strength comparable to similar compliant hands.