@inproceedings{20a0ff33dd81469fac59a84e8d9672c4,
title = "Design and fabrication of a pneumatic soft robotic gripper for delicate surgical manipulation",
abstract = "Soft compliant gripping is a promising way to protect soft tissues from the grip damage caused by the high stress points in delicate surgical manipulation. In this paper, a new soft robotic gripper is designed to minimize the risk of soft tissues damage due to the over-gripping force generated by the conventional forceps. This new soft robotic gripper consists of a 3D-printed hook retractor shell, a soft inflatable actuator and two small rods. The ability of compliant grip is achieved by the inflated soft pneumatic actuator. Two small rods are used to separate the inflatable actuator into three-fingers-like bloats which can firmly grip the soft tissues by multi-contacts between the tissues and the gripper when the air pressure is applied to the pneumatic channel. In addition, it can protect the tissues against the harmful contacts with the rigid shell. The hook structure allows scooping-up motion during delicate surgical manipulation. The gripping tests and pulling force sensing experiments are carried out to evaluate the performance of the proposed soft robotic gripper.",
keywords = "Delicate surgical manipulation, Inflatable actuator, Inverse-flow injection, Soft robotic gripper",
author = "Jin Guo and Yi Sun and Xinquan Liang and Low, \{Jin Huat\} and Wong, \{Yoke Rung\} and Tay, \{Vincent Shian Chao\} and Yeow, \{Chen Hua\}",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",
year = "2017",
month = aug,
day = "23",
doi = "10.1109/ICMA.2017.8015965",
language = "English",
series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1069--1074",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
address = "United States",
}