Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>Motion states for three typical configurations for case 1. (a) Motion state for configuration 1R<sub>s</sub>-1R<sub>f</sub>-1R1P; (b) motion state for configuration 1P<sub>s</sub>-1R<sub>f</sub>-2R with traditional passive joints; (c) motion state for configuration 1P<sub>s</sub>-1R<sub>f</sub>-2R with soft equivalent passive joints.</div>

Applied Bionics and Biomechanics

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Figure 14

Figure 14: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 