The increasing demand for grasping diverse objects in unstructured environments poses severe challenges to the existing soft/rigid robotic fingers due to the issues in balancing force, compliance, and stability, and hence has given birth to several hybrid designs. These hybrid designs utilize the advantages of rigid and soft structures and show better performance, but they are still suffering from narrow output force range, limited compliance, and rarely reported stability. Owing to its rigid-soft coupling structure with flexible switched multiple poses, human finger, as an excellent hybrid design, shows wide-range output force, excellent compliance, and stability. Inspired by human finger, we propose a hybrid finger with multiple modes and poses, coupled by a soft actuator (SA) and a rigid actuator (RA) in parallel. The multiple actuation modes formed by a pneumatic-based rigid-soft collaborative strategy can selectively enable the RA's high force and SA's softness, whereas the multiple poses derived from the specially designed underactuated RA skeleton can be flexibly switched with tasks, thus achieving high compliance. Such hybrid fingers also proved to be highly stable under external stimuli or gravity. Furthermore, we modularize and configure these fingers into a series of grippers with excellent grasping performance, for example, wide graspable object range (diverse from 0.1 g potato chips to 27 kg dumbbells for a 420 g two-finger gripper), high compliance (tolerate objects with 94% gripper span size and 4 cm offset), and high stability. Our study highlights the potential of fusing rigid-soft technologies for robot development, and potentially impacts future bionics and high-performance robot development.

中文翻译：

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仿生多模态多姿势混合手指，用于大范围的力、顺从和稳定的抓取

由于平衡力、柔顺性和稳定性方面的问题，在非结构化环境中抓取各种物体的需求不断增加，对现有的软/刚性机器人手指提出了严峻挑战，因此催生了几种混合设计。这些混合设计利用了刚性和柔软结构的优势并表现出更好的性能，但它们仍然存在输出力范围窄、柔顺性有限以及很少报道的稳定性等问题。由于其具有灵活切换多个姿势的刚柔耦合结构，人体手指作为一种出色的混合设计，具有宽范围的输出力、出色的柔顺性和稳定性。受人类手指的启发，我们提出了一种具有多种模式和姿势的混合手指，由软致动器（SA）和刚性致动器（RA）并联耦合。以气动为基础的刚柔协同策略形成的多种驱动模式可以选择性地实现RA的高力和SA的柔软性，而专门设计的欠驱动RA骨架衍生的多个姿势可以随任务灵活切换，从而实现高顺应性。这种混合手指也被证明在外部刺激或重力下高度稳定。此外，我们将这些手指模块化并配置成一系列具有出色抓取性能的夹具，例如，可抓取物体范围广（从 0.1 g 薯片到 27 kg 哑铃，420 g 双指夹具），高顺应性（耐受具有 94% 夹持器跨度和 4 厘米偏移的物体）和高稳定性。我们的研究强调了融合刚柔技术用于机器人开发的潜力，