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The human hand has an inherent ability to manipulate and re-orientate objectswithout external assistance. As a consequence, we are able to operate tools andperform an array of actions using just one hand, without having to continuouslyre-grasp objects. Emulating this functionality in robotic end-effectors remainsa key area of study with efforts being made to create advanced control systemsthat could be used to operate complex manipulators. In this paper, a threefingered soft gripper with an active rotary palm is presented as a simpler,alternative method of performing in-hand rotations. The gripper, complete withits pneumatic suction cup to prevent object slippage, was tested and found tobe able to effectively grasp and rotate a variety of objects both quickly andprecisely.

A Soft Robotic Gripper with Active Palm for In-Hand Object Reorientation