This article describes a novel design of bioinspired soft robotic fingers based upon hybrid jamming principle—integrated layer jamming and particle jamming. The finger combines a fiber-reinforced soft pneumatic actuator with a hybrid jamming substrate. Taking advantage of different characteristics of layer jamming and particle jamming, the substrate is designed with three chambers filled with layers (function as bones) and two chambers filled with particles (function as joints). The layer regions and particle regions are interlocked with each other to guarantee load transfer from the fixed finger end to fingertip. With the proposed design, the finger is endowed with bending shape control, as well as variable stiffness capabilities. Theoretical analysis is conducted to predict the stiffness variation of the proposed finger at different vacuum levels, and experimental tests are performed to evaluate the finger's shape control and stiffness tuning effectiveness. Experimental results show that the proposed finger can achieve 5.52 times stiffness enhancement at primary position. Finally, we fabricate a gripper and perform grasping demonstrations on several objects. Results show that the gripper is able to transfer between low stiffness state for adaptive grasping and high stiffness state for robust holding.

中文翻译：

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仿生软机器人手指的混合干扰。

本文介绍了一种基于混合干扰原理的仿生软机器人手指的新颖设计——集成层干扰和粒子干扰。该手指将纤维增强的软气动执行器与混合干扰基板结合在一起。利用层干扰和粒子干扰的不同特性，基板设计有三个充满层的腔室（用作骨骼）和两个充满粒子的腔室（用作关节）。层区和颗粒区相互联锁，以保证负载从固定指端转移到指尖。通过所提出的设计，手指具有弯曲形状控制以及可变刚度能力。进行理论分析以预测所提出的手指在不同真空水平下的刚度变化，并进行实验测试以评估手指的形状控制和刚度调整的有效性。实验结果表明，所提出的手指在主要位置可以实现 5.52 倍的刚度增强。最后，我们制作了一个抓手并对几个物体进行抓取演示。结果表明，夹持器能够在用于自适应抓取的低刚度状态和用于稳健夹持的高刚度状态之间转换。我们制造了一个抓手并在几个物体上进行了抓取演示。结果表明，夹持器能够在用于自适应抓取的低刚度状态和用于稳健夹持的高刚度状态之间转换。我们制造了一个抓手并在几个物体上进行了抓取演示。结果表明，夹持器能够在用于自适应抓取的低刚度状态和用于稳健夹持的高刚度状态之间转换。