  This paper proposes a novel pneumatic soft robotic hand that incorporates a
mechanism that can switch the airflow path using a single airflow control. The
developed hand can control the finger motion and operate the surface friction
variable mechanism. In the friction variable mechanism, a lubricant is injected
onto the high-friction finger surface to reduce surface friction. To inject the
lubrication using a positive-pressure airflow, the Venturi effect is applied.
The design and evaluation of the airflow-path switching and friction variable
mechanisms are described. Moreover, the entire design of a soft robotic hand
equipped with these mechanisms is presented. The performance was validated
through grasping, placing, and manipulation tests.
