Design Process for a Soft Flexible Palm Improving grasp strength in an anthropomorphic end effector for collaborative robots in construction Charlotte Firth 1 , Kate Dunn 2 , M.Hank Haeusler 3 1 UNSW/ Computational Design 2,3 UNSW / Computational Design 1,2,3 {c.firth|k.dunn|m.haeusler}@unsw.edu.au This paper describes an iterative design process to create an anthropomorphic end-effector for a collaborative robot in construction. The focus is on improving the palm or juncture of the handlike end effector. Anthropomorphic end effectors typically have stiff, rigid palms that only provide support to the fingers rather than being an active part of the end effector. This research contributes to new knowledge through a detailed investigation of the role the palm has in improving the grip strength and control. This control and strength is essential for operating tools commonly used on construction sites. Consequently, the paper asks the question and investigates if a flexible palm could provide added support and grip for end effectors needed for complex processes.Via an action-based research method, the paper uses soft robotic techniques to experiment with a range of pneumatic iterative solutions to create a functioning palm, inspired by the human hand. The resulting end effector will aim to mimic the behaviours of the human hand.This investigation, its proposed hypothesis, methodology, implications, significance and evaluation are presented in the paper. Keywords: End Effector, Hybrid Tools, Soft Robotics, Anthropomorphic INTRODUCTION & BACKGROUND Collaborative robotics, end effectors & Con- struction Collaborative robots are purpose-built robots or robotic arms that work alongside or near humans. With Industry 4.0 initiatives looking at technical as- sistance to aid human workers to reach their full po- tential, collaborative robotics are becoming an alter- native solution for manufacturing companies (Øster- gaard, 2016). Collaborative robots could also help change the construction industry by solving some of the current problems at hand. Adversity such as labour shortage and production downfalls could be solved by collaborative robots completing work that could be deemed unsafe or affecting one’s health on- site as argued by Reinhardt et al. (2019). However, collaborative robots would need to meet a range of requirements to work safely in unstructured envi- ronments like construction sites [5]. This focus can be seen through prior research, by Reinhardt et al. (2019) that looks at the tasks that a robot could col- laborate on such as the construction of a stud wall D2.T10.S1. ROBOTIC TECTONICS, AUTOMATION AND INTERACTION - Volume 2 - eCAADe 38 | 423