Configuration Synthesis and Performance Analysis of Finger Soft Actuator

<div>Motion states for two typical configurations for case 3. (a) Motion state for configuration 3-(1R<sub>s</sub>-2R<sub>f</sub>-1P); (b) motion state for configuration 3-(1P<sub>s</sub>-1R<sub>f</sub>-2R) with soft passive joints.</div>

Applied Bionics and Biomechanics

fig20

Figure 20

Figure 20: Configuration Synthesis and Performance Analysis of Finger Soft Actuator 