Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>3D models of three typical configurations. (a) 1R<sub>s</sub>-1R<sub>f</sub>-1R1P; (b) 1P<sub>s</sub>-1R<sub>f</sub>-2R with traditional passive joints; (c) 1P<sub>s</sub>-1R<sub>f</sub>-2R with soft equivalent passive joints.</div>

Applied Bionics and Biomechanics

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Figure 13

Figure 13: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 