A New Approach for Multi-Material Additive Manufacturing of a Sensorized Hybrid Soft Robotic Hand

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Abstract

In recent years, the integration of soft and rigid robotics also known as hybrid robotics has shown significant promises in the advancement of robotic systems by providing the potential for safe and adaptive interaction while simultaneously offering high load capacity. Nonetheless, the fabrication of hybrid robotic systems is usually characterized as a complex and time-consuming process, due to its multi-step nature, necessity of manual assembly, and formidable challenge of bonding between soft and rigid materials. In this paper we present a novel bonding technique for additive manufacturing of hybrid robotic systems via FDM process. We demonstrate our technique with in a commercially available FDM 3D printer for the fabrication of a low-cost, fully 3D printed modular hybrid hand with distributed tactile sensing. Our technique shows strong bonding between TPU and PLA, with a 6-fold increase in the debonding force. The research not only demonstrates the feasibility of a simple and low-cost additive manufacturing approach for hybrid manipulators, but also lays the groundwork for future studies into the optimization of fabrication strategies for hybrid robotics.

Original languageEnglish
Title of host publication2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
PublisherIEEE
Pages1107-1112
Number of pages6
ISBN (Electronic)9798350386523
DOIs
Publication statusPublished - 23 Oct 2024
Event10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 - Heidelberg, Germany
Duration: 1 Sept 20244 Sept 2024
Conference number: 10
https://www.biorob2024.org/

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024
Abbreviated titleBioRob 2024
Country/TerritoryGermany
CityHeidelberg
Period1/09/244/09/24
Internet address

Keywords

  • 2025 OA procedure

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