Soft robotic hands provide better safety and adaptability than rigid robotic hands. Furthermore, a multijointed structure that imitates the movement of a human hand represents significant progress in realizing its anthropomorphism. In this study, we present a multijointed pneumatic soft anthropomorphic hand that is capable of expressing letters through sign language and grasping different objects using three grasping modes, namely thumb grasping, precision grasping, and power grasping. This novel soft hand is composed of multijointed soft fingers, a thumb, thenar, and 3D-printed palm. Tests were performed to characterize the displacement track and force performance of the fingers, thumb, and thenar, which was made by mold casting silicone rubber. In addition, a dedicated pneumatic control system was designed and built to enable the soft hand to automatically perform the tasks set by specific programs. This new multijointed hand with a flexible thenar represents significant progress in the development of anthropomorphic bionic hands, offering the benefits of fast response, low cost, as well as ease of fabrication, assembly, and replacement.

中文翻译：

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具有灵活鱼际的多关节气动软手

软机械手比刚性机械手提供更好的安全性和适应性。此外，模拟人手运动的多关节结构代表了实现其拟人化的重大进展。在这项研究中，我们展示了一种多关节气动软拟人手，它能够通过手语表达字母并使用拇指抓握、精确抓握和力量抓握三种抓握模式来抓握不同的物体。这种新颖的软手由多关节软手指、拇指、鱼际和 3D 打印手掌组成。进行了测试以表征由模铸硅橡胶制成的手指、拇指和鱼际的位移轨迹和受力性能。此外，设计并建造了专用的气动控制系统，使柔软的手能够自动执行特定程序设定的任务。这种具有灵活鱼际的新型多关节手代表了拟人仿生手开发的重大进展，具有响应速度快、成本低以及易于制造、组装和更换的优点。