Method for Manufacturing a Robotic Gripper Mimicking Human Hand Mechanics Using Multi-Material 3D Printing Technology and the Resultant Gripper

A method for manufacturing a robotic gripper that mimics the mechanical properties of a human hand, the method comprising the steps of:

• a) 3D printing a hard skeletal structure using at least a first rigid material type;
• b) 3D printing soft interconnections between components of the hard skeletal structure using at least a second flexible material type, the hard skeletal structure and soft interconnections together being structured to create channels between strategically placed anchor points around the joints to allow for subsequent cable routing and attachment;
• c) printing conductive traces within the hard and soft materials to form the basis of embedded electronics and sensor systems, which act as a network for transmitting electrical signals;
• d) threading cables through the pre-designed channels in the 3D printed structure to act as the actuation mechanism;
• e) connecting the threaded cables to the hard skeletal structures using the anchor points to create an actuation system;
• f) creating a soft outer shell with conductive traces and specific indentations to house sensor electronics;
• g) installing force sensors and signal conditioning chips in the pre-formed indentations of the soft outer shell and connecting them to the conductive traces within the structure to complete the circuitry;
• and
• h) coating the entire gripper assembly in a protective resin layer to shield the embedded force sensors and signal conditioning chips.