A bioinspired 3D-printable flexure joint with cellular mechanical metamaterial architecture for soft robotic hands.

ABSTRACT: Compliant flexure joints have been widely used for cable-driven soft robotic hands and grippers due to their safe interaction with humans and objects. This paper presents a soft and compliant revolute flexure joint based on the auxetic cellular mechanical metamaterials with a heterogeneous structure. The heterogeneous architecture of the proposed metamaterial flexure joint (MFJ), which is inspired by the human finger joints, provides mechanically tunable multi-stiffness bending motion and large range of bending angle in comparison to conventional flexure joints. The multi-level variation of the joint stiffness over the range of bending motion can be tuned through the geometrical parameters of the cellular mechanical metamaterial unit cells. The proposed flexure joints are 3D printed with s

SUBMITTER: Mohammadi A 

PROVIDER: S-EPMC10236482 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature