フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2025/11
形態種別	学術論文
査読	査読あり
標題	Humanoid finger with rigid-flexible-soft structure
執筆形態	共著
掲載誌名	Nature Communications
掲載区分	国外
出版社・発行元	Springer Nature
巻・号・頁	16(9905),pp.1-11
総ページ数	11
国際共著	国際共著
著者・共著者	Boyang Lyu, Huai Xiao, Qingxin Meng, Jundong Wu, Yawu Wang, Jinhua She, Edwardo F. Fukushima
概要	Soft robotic grippers represent a transformative shift in robotic manipulation, offering excellent adaptability and safety when interacting with diverse objects and environments. However, it is common for such soft grippers to fall short in comparison to their traditional rigid counterparts in terms of output force and stability. In the present era where the application of robotics is burgeoning, designing a robotic finger that can exert high output force and delicately manipulate small or fragile objects is a challenging endeavor. Here, we design a Humanoid finger with rigid-flexible-soft structure (HFRFSS), which consists of rigid tubular bones, flexible joint springs with automatic reset function and resistance to non-natural deformation, and soft silicone skin similar to a human finger. A layer of pneumatic membrane actuator is installed between the rigid tubular bone and the soft silicone skin. To verify the performance of this finger, a variety of mechanical grippers are designed with the HFRFSS, based on which a series of operational experiments are conducted, which include grabbing fragile tofu, pinching a 0.1-millimeter-thick printing paper, grabbing basketball with a diameter of 23.2 centimeters, supporting weights of 5.27 kilograms, and safely transferring a living frog from one water tank to another. By using the HFRFSS, we can build grippers with stronger comprehensive performance, enabling rigid-flexible-soft robots to be better applied in a variety of situations.
外部リンクURL	https://doi.org/10.1038/s41467-025-65367-x