Design of Soft Flexible Wiredriven Finger Mechanism for Contact Pressure Distribution We proposed the soft flexible wiredriven finger mechanism with the soft skin and the multijoint skeletal structure using two coil springs. The multijoint skeletal structure is mainly composed of two coil springs, multiple skeletal members and a fiber wire, and the soft skin is formed outside of them. The soft skin and the multijoint skeletal structure make it possible to distribute the contact pressure, which is necessary for not only touching a living body such as a human or an agricultural crop, but also for touching an artificial object such as pastry or an industrial product without damaging it or its package. In this paper, we describe the design of the soft flexible wiredriven finger mechanism and development of the threefingered hand using the finger mechanism we proposed.

Design and Analysis of StiffnessVariable Soft Fingers with Dielectric Elastomers This paper presents a novel kind of soft robotic finger with variable stiffness, which is realized by the geometric parameter change of the embedded dielectric elastomers(DEs) due to the electromechanical coupling mechanism. Based on finite element modeling and numeric analysis techniques, a nodebased finite element modeling approach with numeric iteration (nFENMNI) is proposed for kinematic modeling of the soft finger. According to the established kinematic model, the designed variable stiffness soft finger can have different postures with different input pulling load and input voltages. The numeric iteration in the nFEMNI method is used to establish the inputoutput model of the proposed cabledriven soft robotic finger. The finite element simulation experiments with Abaqus and Python are conducted to validate the performances of posture control of designed soft finger with different joint stiffness. The results indicate that the presented soft finger with dielectric elastomers has some degrees of capabilities of stiffness adaption under the same input load or different contact force requirements.