Configuration Synthesis and Performance Analysis of Finger Soft Actuator

Table 1

Parameters of the soft structure.

(outer radius)	(inner radius)	(thickness of bottom)	(length)	(pitch of rigid fiber)	(section diameter of rigid fiber)	(thickness of nondeformation layer)
16.0 mm	14.4 mm	0.7 mm	34.0 mm	2.0 mm	0.09 mm	0.5 mm