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Soft robotic manipulators with many degrees of freedom can carry out complextasks safely around humans. However, manufacturing of soft robotic hands withseveral degrees of freedom requires a complex multi-step manual process, whichsignificantly increases their cost. We present a design of a multi-material 15DoF robotic hand with five fingers including an opposable thumb. Our design has15 pneumatic actuators based on a series of hollow chambers that are driven byan external pressure system. The thumb utilizes rigid joints and the palmfeatures internal rigid structure and soft skin. The design can be directly 3Dprinted using a multi-material additive manufacturing process without anyassembly process and therefore our hand can be manufactured for less than 300dollars. We test the hand in conjunction with a low-cost vision-basedteleoperation system on different tasks.

Directly 3D Printed, Pneumatically Actuated Multi-Material Robotic Hand