An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA

Figure 10

Generation of the target trajectory and structure of the actuator. (a) Photographs of the index finger during a grasping motion. (b) Configurations of the index finger during a grasping motion. (c) Structure and design parameters of the desired actuator. (d) Illustration of the bending angle of each joint.

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