Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>Typical structure forms for closed-loop 2. (a) 1R<sub>s</sub>-2R<sub>f</sub>-1R; (b) 1R<sub>s</sub>-2R<sub>f</sub>-1P; (c) 1P<sub>s</sub>-2R<sub>f</sub>-1R.</div>

Applied Bionics and Biomechanics

fig10

Figure 10

Figure 10: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 