Abstract:Robotic manipulation in unstructured environments requires end-effectors that combine kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic actuators offer a promising alternative by combining muscle-like compliance with self-sensing capability. This paper presents the design, control, and evaluation of a musculoskeletal robotic hand architecture powered entirely by remote Peano-HASEL actuators, optimized for safe manipulation. By relocating the actuators to the forearm, we isolate the grasping interface from electrical hazards while maintaining a slim, human-like profile. To address the inherently limited linear contraction of these soft actuators, we integrate a 1:2 pulley routing mechanism that mechanically amplifies tendon displacement. The resulting system prioritizes compliant interaction over high payload capacity, leveraging the intrinsic force-limiting characteristics of the actuators to provide inherent safety. This physical safety is augmented by the self-sensing nature of the HASEL actuators: by monitoring the operating current alone, we achieve real-time grasp detection and closed-loop contact-aware control without external force transducers or encoders. Experimental results demonstrate the system's dexterity and safety through the execution of grasp types from standard taxonomies and the non-destructive grasping of highly fragile objects such as a paper balloon. These findings represent a step toward simplified, inherently compliant soft robotic manipulation.
From: Misato Sonoda [view email]
[v1]
Wed, 25 Mar 2026 14:40:49 UTC (15,727 KB)
[v2]
Mon, 20 Jul 2026 05:40:34 UTC (10,576 KB)
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