A Soft Robotics Approach to Prosthetic Hands: Integrating 3D Printing Techniques and Embedded Vision

The development of soft robotics hand has progressed significantly, evolving from a pneumatically actuated solution for industrial applications to a lightweight and easy-to-manufacture solution for 3d printed prosthetic hands. However, existing soft prosthetic hands often lack anthropomorphic appearances, intrinsic structural integrity, and sufficient feedback to the amputees, leading to a high rate of abandonment of prosthetic hands. This paper presents a design of a 3d printed soft robotic hand based on a monolithic design with an embedded camera and anthropomorphic appearance. The hand is fabricated using the flexible 3d printable material TPU-95 with an embedded Raspberry Pie Cam module for increased functionality. The hand utilizes a cable-driven mechanism integrated with five rotary actuators capable of multiple grasp patterns. Our design weighs around 246 grams with all the electronic components embedded inside the hand. This paper discusses the mechanical design, 3d printing methodology for the fabrication of the fingers, actuation mechanisms, and the results of the soft prosthetic hand's performance.