Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>Motion states for two typical configurations for case 2. (a) Motion state for configuration 1R<sub>s</sub>-2R<sub>f</sub>-1P; (b) motion state for configuration 1(P<sub>s</sub>-R<sub>s</sub>)P<sub>s</sub>-1R<sub>f</sub>-2R with soft passive joint.</div>

Applied Bionics and Biomechanics

fig18

Figure 18

Figure 18: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 