Fingerprint-inspired surface texture for the enhanced tip pinch performance of a soft robotic hand in lubricated conditions  

作　　者：Tianze HAO Huaping XIAO Shuhai LIU Yibo LIU 

机构地区：[1]College of Mechanical and Transportation Engineering,China University of Petroleum-Beijing,Beijing 102249,China

出　　处：《Friction》2023年第7期1349-1358,共10页摩擦（英文版）

基　　金：supported by the Science Foundation of China University of Petroleum-Beijing(Nos.2462020XKJS01 and 2462020YXZZ046);National Key R&D Program of China(No.2017YFC0805800).

摘　　要：The core capabilities of soft grippers/soft robotic hands are grasping and manipulation.At present,most related research often improves the grasping and manipulation performance by structural design.When soft grippers rely on compressive force and friction to achieve grasping,the influence of the surface microstructure is also significant.Three types of fingerprint-inspired textures with relatively regular patterns were prepared on a silicone rubber surface via mold casting by imitating the three basic shapes of fingerprint patterns(i.e.,whorls,loops,and arches).Tribological experiments and tip pinch tests were performed using fingerprint-like silicone rubber films rubbing against glass in dry and lubricated conditions to examine their performance.In addition to the textured surface,a smooth silicone rubber surface was used as a control.The results indicated that the coefficient of friction(COF)of the smooth surface was much higher than that of films with fingerprint-like textures in dry and water-lubricated conditions.The surface with fingerprint-inspired textures achieved a higher COF in oil-lubricated conditions.Adding the fingerprint-like films to the soft robotic fingers improved the tip pinch gripping performance of the soft robotic hand in lubricated conditions.This study demonstrated that the surface texture design provided an effective method for regulating the grasping capability of humanoid robotic hands.

关 键 词：fingerprint-like patterns surface engineering soft hand tip pinch 

分 类 号：TG178[金属学及工艺—金属表面处理] TH117[金属学及工艺—金属学]