Journal of Bionic Engineering (2022) 19:668–677  https://doi.org/10.1007/s42235-022-00182-4 

Printable Kirigami-inspired Flexible and Soft Anthropomorphic Robotic Hand 

Yunhol Chan1,2 · Zion Tsz?Ho Tse3  · Hongliang Ren1,2

1 Department of Biomedical Engineering, National University of Singapore, Kent Ridge 119077, Singapore
2 Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK), Shatin, New Territory, Hong Kong, China
3 Department of Electronic Engineering, University of York, North Yorkshiref YO10 5DD, UK 

Abstract  We present a kirigami-inspired design scheme for a robotic hand by 3D printable folds and cuts. The unique contribution is the printable fexible hand, which provides fexibility and maneuverability that is unavailable in rigid robotic systems. The integration of sensors in the robotic system enables force adjustment for robotic systems applicable in the future. The experimental results have shown that this design can perform everyday tasks through grasping and pinching diferent items. The fngers can bend from 40 to 100 degrees. Furthermore, the direct printable kirigami cuts and folds from soft elastic printable materials have signifcant potential for prosthetic devices. The printable kirigami design framework opens the possibility for future developments and modifcations in numerous robotic applications. 

Keywords Kirigami-inspired design · Prosthetic · Soft materials · Three-dimensional printing

Kirigami-inspired hand exoskeleton system designed by the team in rest (image A) and actuation mode (image B). The origami cuttings on the finger mechanism (in blue) are actuated by the MX360 servo motor (in red) through a metal wire (in purple). The initial actuation test showed here that the kirigami system can perform its function as a prosthetic device