Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>Typical structure forms for case 3. (a) 3-(1R<sub>s</sub>-1R<sub>f</sub>-1R1P); (b) 3-(1P<sub>s</sub>-1R<sub>f</sub>-2R).</div>

Applied Bionics and Biomechanics

Figure 11: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 