Configuration Synthesis and Performance Analysis of Finger Soft Actuator

Figure 8

Typical structure forms for closed-loop 1. (a) 1R_s-1R_f-2R; (b) 1R_s-1R_f-1R1P; (c) 1P_s-1R_f-2R; (d) 1P_s-1R_f-1R1P.

(a)

(b)

(c)

(d)