Supplemental information for the Soft Robotic Hand

Title: Contact Detection and Manipulation with a Shape-Memory Alloy Based Soft Gripper

Authors: Louis Plottel(1), Richard Desatnik(2), Dinesh K. Patel(2), Philip LeDuc(2), Carmel Majidi(1,2)


(1) The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA
(2) Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, USA
Corresponding Author: Prof. Majidi (cmajidi@andrew.cmu.edu)


Three_finger_code.ino contains code and instructions to operate the soft robotics hand, including waypoint-based and contact-detection based manipulation. It can be run using the Arduino IDE version 2.3.2. Available for download from: https://www.arduino.cc/en/software

The finger_characterisation folder contains data from characterization tests and code to run the tests and analyze the results. The code to run the tests can run using the Arduino IDE version 2.3.2. Available for download from: https://www.arduino.cc/en/software.  The script to analyze the data can be run using Matlab version R2023a.

The CAD folder contains a .STEP file for the hand assembly. It can be opened using Solidworks version 2023.

Supplemental_Video.mp4 contains a .mp4 video which can be played in QuickTime player (Mac) or Media Player (Windows).

For questions regarding technical support for multimedia material, please contact Louis Plottel (lmplotte@cs.cmu.edu)