A Bionic Robotic Hand Designed with Multiple Grasping Modes and Magnetic-tactile Perception
Shixian Wang, Shaobo Yang, Junfeng Wang, Boao Li, Fuchun Sun, Junxia Yan, Bin Fang
Abstract
This paper presents a novel multi-mode bionic robotic hand. Its bionic finger (BIF) ingeniously combines a magnetic-silica-gel skin with a rigid skeletal framework and integrates a vacuum suction cup at the fingertip. This design enables the bionic manipulator to execute multiple grasping modes, namely enveloping, parallel, and suction grasping. The proposed BIF emulates the skeletal structure of human fingers and equips the fingertip with suction-based grasping functionality, thus achieving both formal bionics and functional superiority. The overall grasping space range of the bionic manipulator can be determined through the computation of the offset of the steel wire, which corresponds to the bending angles of the three joints of the finger. Furthermore, by discerning the four phases within the bionic manipulator’s object-grasping process, in-depth exploration is carried out regarding the unique data characteristics of the magnetic-tactile sensing unit during the grasping operation. On this basis, an accurate prediction of the grasped object’s diameter is achieved. We constructed an autonomous grasping operation platform by integrating an external depth camera with the robotic arm to assess the fundamental performance of this robotic hand in grasping diverse objects.
BibTeX
@inproceedings{iros2025_abionicroboticha,
title = {A Bionic Robotic Hand Designed with Multiple Grasping Modes and Magnetic-tactile Perception},
author = {Shixian Wang and Shaobo Yang and Junfeng Wang and Boao Li and Fuchun Sun and Junxia Yan and Bin Fang},
booktitle = {IROS 2025},
year = {2025}
}