Soft grippers and actuators have attracted increasing attention due to safer and more adaptable human–machine and environment–machine interactions than their rigid counterparts. In this study we present a novel soft humanoid hand that is capable of robustly grasping a variety of objects with different weights, sizes, shapes, textures, and stiffnesses. The soft hand fingers are made of flexible hybrid pneumatic actuators (FHPAs) designed based on a modular approach. A theoretical model is proposed to evaluate the bending deformation, grasping force, and loading capacity of the FHPAs, and the effects of various design parameters on the performance of the FHPA are investigated for optimizing the soft hands. This new FHPA achieves a balance of required flexibility and necessary stiffness, and the resulting soft humanoid hand has the merits of fast response, large grasping force, low cost, light weight, and ease of fabrication and repair, which shows promise for a variety of applications such as fruit picking, product packaging, and manipulation of fragile objects.

中文翻译：

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柔性混合气动执行器实现具有大抓力的柔软人形手

与刚性对应物相比，软夹持器和执行器由于更安全、更具适应性的人机和环境-机器交互而引起了越来越多的关注。在这项研究中，我们展示了一种新颖的软人形手，它能够牢固地抓住各种重量、大小、形状、纹理和硬度的物体。柔软的手指由基于模块化方法设计的灵活混合气动执行器 (FHPA) 制成。提出了一个理论模型来评估 FHPA 的弯曲变形、抓握力和承载能力，并研究了各种设计参数对 FHPA 性能的影响，以优化软手。这种新的 FHPA 实现了所需的灵活性和必要的刚度的平衡，