关键词: 软体手, 变刚度, 驱动, 结构解耦, 指尖力

Abstract:  To realize the accurate grasp of soft hand with variable stiffness， a soft robotic finger with the structural decoupling of actuator and variable stiffness mechanisms was designed. The fingertip force models of soft finger were built and the fingertip forces of finger were calculated. The comparison between the experimental results and simulation ones of the fingertip forces validated that the grasping models might accurately predict the grasping behavior within a certain range of deflections. The structure sizes of the soft robotic hands were designed based on the fingertip force models of the soft finger. According to the designed structure of the soft robotic hands， the grasping ability of the finger pulp was further studied， and eventually the grasping force models of the finger pulp grasp of the soft robotic hand were obtained through the mutual verification of simulation and experiment. Simulation and experimental results show that the grasping capability of soft robotic hands was related to the stiffness of fingers， actuating ability from deformation and the grasping types. 

Key words:  , soft robotic hand, variable stiffness, actuator, structural decoupling, fingertip force