Soft robotic manipulators with many degrees of freedom can carry out complex tasks safely around humans. However, manufacturing of soft robotic hands with several degrees of freedom requires a complex multi-step manual process, which significantly increases their cost. We present a design of a multi-material 15 DoF robotic hand with five fingers including an opposable thumb. Our design has 15 pneumatic actuators based on a series of hollow chambers that are driven by an external pressure system. The thumb utilizes rigid joints and the palm features internal rigid structure and soft skin. The design can be directly 3D printed using a multi-material additive manufacturing process without any assembly process and therefore our hand can be manufactured for less than 300 dollars. We test the hand in conjunction with a low-cost vision-based teleoperation system on different tasks.

翻译：软体机器人操作器具有多自由度，能够在人类周围安全地执行复杂任务。然而，制造具有多个自由度的软体机械手需要复杂的手工多步骤流程，这显著增加了其成本。我们提出了一种多材料15自由度机械手的设计，该机械手包含五根手指，其中包括一只对生拇指。我们的设计基于一系列空心腔室，包含15个气动执行器，由外部压力系统驱动。拇指采用刚性关节，手掌具有内部刚性结构和柔软皮肤。该设计可以直接通过多材料增材制造工艺进行3D打印，无需任何组装过程，因此我们的机械手制造成本低于300美元。我们结合低成本基于视觉的遥操作系统，在不同任务上测试了该机械手。