Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping
Xiangbo Wang,Tianran Zhang,Hongze Yu,Zhenwei Wen,Lide Fang,Huaping Liu,Fuchun Sun,Lixue Tang,Bin Fang,Xiangbo Wang,Tianran Zhang,Hongze Yu,Zhenwei Wen,Lide Fang,Huaping Liu,Fuchun Sun,Lixue Tang,Bin Fang
This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angl...
