Applied Bionics and Biomechanics

Research Article

Configuration Synthesis and Performance Analysis of Finger Soft Actuator

Table 2

Configuration of closed-loop structures.
CaseNumber of closed-loopJoint types
Case 111Rs-1Rf-2R, 1Rs-1Rf-1R1P, 1Ps-1Rf-2R, 1Ps-1Rf-1R1P, 1(Rs-Ps)-1Rf-2R, 1(Rs-Ps)-1Rf-1R1P
Case 211Rs-2Rf-1R, 1Rs-2Rf-1P, 1Ps-2Rf-1R, 1(Rs-Ps)-2Rf-1R, 1(Rs-Ps)-2Rf-1P
22-(1Rs-1Rf-2R), 2-(1Rs-1Rf-1R1P), 2-(1Ps-1Rf-2R), 2-(1Ps-1Rf-1R1P), 2-[1(Rs-Ps)-1Rf-2R], 2-[1(Rs-Ps)-1Rf-1R1P]
Case 321(1Rs-1Rf-2R)1(1Rs-2Rf-1R), 1(1Rs-1Rf-2R)1(1Rs-2Rf-1P), 1(1Rs-1Rf-2R)1(1Ps-2Rf-1R)…
33-(1Rs-1Rf-2R), 3-(1Rs-1Rf-1R1P), 3-(1Ps-1Rf-2R), 3-(1Ps-1Rf-1R1P), 3-[1(Rs-Ps)-1Rf-2R], 3-[1(Rs-Ps)-1Rf-1R1P]