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. 2023 Jul 5;11:1188996. doi: 10.3389/fbioe.2023.1188996

FIGURE 3.

FIGURE 3

(A) Complete setup of the robotic hand system, (B) exploded view of the robotic hand showing features of multiple bi-directional soft actuators and plastic hand base for securing the actuators, (C) design structure of the control box, (D) control logic of the robotic hand for facilitating hand closing and opening movement.