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Applied Bionics and Biomechanics
Volume 2018, Article ID 4264560, 14 pages
Research Article

Configuration Synthesis and Performance Analysis of Finger Soft Actuator

1College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
2School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

Correspondence should be addressed to Ziqiang Zhang; moc.361@11002560qzz

Received 3 February 2018; Revised 20 May 2018; Accepted 4 July 2018; Published 13 August 2018

Academic Editor: Li-Qun Zhang

Copyright © 2018 Ziqiang Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Compared with the traditional rigid finger actuator, the soft actuator has the advantages of light weight and good compliance. This type of finger actuator can be used for data acquisition or finger rehabilitation training, and it has broad application prospects. The motion differences between the soft actuator and finger may cause extrusion deformation at the binding point, and the binding forces along nonfunctional direction may reduce drive efficiency. In order to reduce the negative deformation of soft structure and improve comfort, the configuration synthesis and performance analysis of the finger soft actuator were conducted for the present work. The configuration synthesis method for soft actuator was proposed based on the analysis of the physiological structure of the finger, and the soft actuator can make the human-machine closed-loop structure including joints (, 2, 3) meet the requirement of DOF (degrees of freedom). Then the typical feasible configurations were enumerated. The different typical configurations were analyzed and compared based on the establishment of mathematical models and simulation analysis. Results show that the configuration design method is feasible. This study offers a theoretical basis for designing the configuration of finger soft actuator.