arxivcs.RO2026-07-24
A Monolithic Hand with Asymmetric Origami Bending and Dual-chamber Actuators
Nan Huang, Yuming Zhu, Zicong Zhang, Jianhui Liu, Xiaohuang Liu, Dihan Liu, et al.
The passive adaptability inherent in soft robotic hands affords them advantages in applications that require safe and compliant interaction. However, existing soft robotic hands often struggle to simultaneously achieve adequate output performance and easy manufacturing due to the…