Rigid Skeleton Enhanced Dexterous Soft Finger Possessing Proprioception
Ruichen Zhen,Li Jiang,Ruichen Zhen,Li Jiang
This work presents a humanoid soft robotics finger design with rigid skeletons and proprioceptive sensors. This 4-DOFs dexterous finger has soft joints and rigid phalanxes, which is about the size of human hand. To enhance the overall stiffness and for human-like behavior and configuration, rigid-soft actuators which we called quasi-joints are introduced. Although their lengths are shortened in th...
