Design, Implementation and Testing of a Hydro-Pneumatic Soft Silicone Fingertip to Measure Grasping and Interaction Forces in a Robotic Hand

This thesis addresses the challenge of measuring gripping and interaction forces in a robotic hand using a hydro-pneumatic soft silica fingertip. Utilizing hydraulic and pneumatic technologies, the fingertip sensor is designed to adapt to various surfaces and objects, providing accurate and reliable force data. Various approaches are explored to replicate the sense of touch in robotic hands, including integrated electronic sensors, conductive hydrogels, and stretchable optical guides. Despite challenges related to mechanical complexity and material durability, advances in soft robotics promise to bring robotic hands closer to human functionality. A new prototype based on Pisa/IIT SoftHand technology is introduced, using a single actuator to distribute movement to all joints via a tendon and pulley differential mechanism. This system allows the hand to adapt to the shape of objects, ensuring significant versatility. A significant further development was the integration of haptic feedback into the hydro-pneumatic circuit, enabling the real-time delivery of tactile information, thus enhancing perception and control during manipulation. Potential applications range from industrial production to personal assistance and medicine. This thesis aims to contribute to advanced robotics by enhancing the tactile capabilities of robotic hands, opening new possibilities for delicate object manipulation and human-robot interaction.