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. 2023 Aug 8;4:0051. doi: 10.34133/cbsystems.0051

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Copyright © 2023 Samuel Alvesz et al.

Exclusive licensee Beijing Institute of Technology Press. No claim to original U.S. Government Works. Distributed under a Creative Commons Attribution License 4.0 (CC BY 4.0).

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Fig. 1. — Design principles of the soft robotic hand. (A) Multimaterial finger’s soft actuator composed of 2 silicone layers and internal PET reinforcement. (B) Exoskeleton geometry of a single finger designed to bend in 3 joints (distal, middle, and proximal). (C) Operation principle where the pneumatic actuator inside a stiffer exoskeleton shell promotes the bending of the finger. (D) Attached to a robot manipulator, the soft robotic hand is capable of grasping and manipulating objects of various shapes, weights, and sizes.