A Fabric Layer Grasping Robotic Hand Inspired by the Cooperative Mechanism of Human Fingertip-Fingerpad

Addressing the layer-by-layer separation challenge in the production of garments with multiple stacked fabric layers, this study proposes a layered grasping robotic hand inspired by human hand actions in cloth grasping. Firstly, human hand actions are decomposed into two stages: fingertip and finger pad grasping, with an analysis of the underlying principles. Secondly, a two-drive-source, three-degreeof-freedom robotic hand configuration is designed, incorporating a fabric bending deformation model under the robotic hand’s actions. Finally, experiments are conducted to validate the arching and grasping of several typical elastic fabrics. Results demonstrate that the robotic hand achieves a single-layer grasping success rate of over 90%, enabling fabric manipulation akin to human hands. The proposed robotic hand satisfies the requirements for layered grasping, showcasing promising practical applications in fabric handling.