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. 2023 Nov 15;623(7987):522–530. doi: 10.1038/s41586-023-06684-3

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a, A tendon-driven five-fingered soft-rigid hybrid gripper imitating a human hand printed in one process. b, (i) Rendered representation of the gripper with rigid thiol-ene parts shown in blue and soft thiol-ene parts in pink. (ii) Cross-section of the index finger with tendon structure and sensor cavity as well as joint geometry visible. The 50/50 interface part comprises a mixture of the two materials. c, Visualization of the grasping sequence. After 5 s, the palm pressure sensor triggers the start of the grasping motion. The index finger starts to close, visualized by the change in position. At 16 s, the index finger triggers the stopping of the grasping motion before the maximum position would be reached. d, The reachability of the hand is visualized in a series of images showing the ability of the hand to make contact between the thumb and each finger. e, Different objects grasped employing a control algorithm that starts the grasp at contact with the palm sensor pad and closes the hand around an object until the maximum position is reached or contact with an object is detected.