2024
DOI: 10.1109/lra.2024.3376975
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Development of a Dual Function Joint Modular Soft Actuator and its Evaluation Using a Novel Dummy Finger Joint-Soft Actuator Complex Model

Pablo E. Tortós-Vinocour,
Shota Kokubu,
Fuko Matsunaga
et al.

Abstract: Soft actuators, made from soft materials, offer a safer alternative to rigid robots for use on hand rehabilitation devices. A current challenge is to ensure these actuators comply with human finger morphology. To gain better insights into actuator mechanics when worn on and interacting with human fingers, combining physical experiments with simulation approaches is necessary. However, no simulation has been implemented for finger-actuator interactions. This study proposes a new joint modular soft actuator desi… Show more

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