Soft hands based only on an actuator system using a motor, air compressor, or smart material show obvious shortcomings due to the characteristics of each actuator. In this article, to overcome the weaknesses of each actuator system, a novel soft hand with a hybrid actuator system is presented to improve the grasping capacity and complete complex tasks, as the individual actuators can complement each other. First, the structure and actuation system of the soft hand are presented. DC motors are used to output sufficient torque to bend the soft fingers. Shape memory alloy wires are used to rotate the fingertips. The electromagnets embedded in the soft fingers are actuated to bond the fingers to improve the load capability without changing the fingers' stiffness. Then, four different grasping methods are tested to manipulate objects: (1) the soft hand actuated only by motors is tested in terms of its ability to grasp objects of different shapes; (2) the soft robot can grasp the inside of the objects using rotated fingertips; (3) grasping involving the fingers tightly bonded by an electromagnetic force is tested; and (4) small objects are also secured and prevented from falling from the fingers by a gap-filling grasping method. In conclusion, the soft hand actuated by the hybrid system should be a viable alternative to soft manipulators that can compensate for the weaknesses of each actuator and improve the grasping capacity relative to that of individual actuators.

中文翻译：

---

新型软手的设计、分析和抓取实验：使用形状记忆合金致动器、电机和电磁铁的混合致动器。

由于每个执行器的特性，仅基于使用电机、空气压缩机或智能材料的执行器系统的软手显示出明显的缺点。在本文中，为了克服每个执行器系统的弱点，提出了一种具有混合执行器系统的新型软手，以提高抓取能力并完成复杂的任务，因为各个执行器可以相互补充。首先介绍了软手的结构和驱动系统。直流电机用于输出足够的扭矩来弯曲柔软的手指。形状记忆合金线用于旋转指尖。嵌入在软手指中的电磁铁被驱动以粘合手指以提高负载能力而不改变手指的刚度。然后，测试四种不同的抓取方法来操纵物体：(1) 测试仅由电机驱动的软手抓握不同形状物体的能力；(2) 软体机器人可以通过旋转的指尖抓取物体内部；(3) 测试通过电磁力紧密结合的手指的抓握；(4)小物件也采用填缝式抓握法固定，防止手指掉落。总之，由混合系统驱动的软手应该是软机械手的可行替代品，可以弥补每个执行器的弱点并提高相对于单个执行器的抓取能力。(3) 测试通过电磁力紧密结合的手指的抓握；(4)小物件也采用填缝式抓握法固定，防止手指掉落。总之，由混合系统驱动的软手应该是软机械手的可行替代品，可以弥补每个执行器的弱点并提高相对于单个执行器的抓取能力。(3) 测试通过电磁力紧密结合的手指的抓握；(4)小物件也采用填缝式抓握法固定，防止手指掉落。总之，由混合系统驱动的软手应该是软机械手的可行替代品，可以弥补每个执行器的弱点并提高相对于单个执行器的抓取能力。