Design and Development of an Anatomically Inspired Compliant Palm to Adaptively Reconfigure Precision and Power Grasps

The interchangeability between various grasping configurations such as precision and power are proposed to be a key factor in augmenting the functionality of robotic hands in a variety of applications. The design and integration of an equivalent palm to demonstrate this adaptability in a robotic hand was created through an anatomically inspired process by interpreting the movement of critical points on the palm's surface as interconnected compliant beams. A numerical model of the Compliant Anatomical Palmar Mechanism (CAPM) shows unique arching and shaping characteristics of this hyper-elastic, large deformation component that is able to provide a larger contact region. In a designed experimental demonstration, both precision and power is achieved by the same prototyped hand where a modeled task of static grasping of a spherical object subjected to an external force measures the effectiveness of the integration of a palm to stabilize grasps and withstand larger amounts of torque in specific applications. These findings demonstrate the potential of incorporating efficient grasp switching between precision and power by using the palm as an essential mechanism during grasping because of the added unpredictability in its operating environment.