arxiveess.SY2026-07-20
A Compact 3D-Printed Soft Finger with Cyclic Hydraulic Actuation
Zefang Mao, Yunjia Li, Victoria Bamgboye, Sara Ben Haj Hammouda, Aika Ono, Wen Fan, et al.
Hydraulic soft fingers offer compliant and gentle manipulation, but their practical deployment is limited by bulky fluidic hardware, fabrication complexity, and insufficient design validation. This paper presents a compact 3D-printed soft hydraulic finger driven by a miniature cy…