Configuration Synthesis and Performance Analysis of Finger Soft Actuator

Table 3

Comparison result of different configurations for closed-loop 1.

Configuration	Relative motion	Structure complexity	Interference	Mechanical property	Motion stability
1Rs-1Rf-1R1P	Little difference	Complex structure	Not easy to interfere	Mechanical property is not very good	Good stability
1Ps-1Rf-2R (traditional passive joints)		Complex structure	Prone to interference	Good mechanical property	Stability is not very good
1Ps-1Rf-2R (soft passive joints)		Simple structure	Prone to interference	Good mechanical property	Stability is not very good