Fig. 2: Mechanical design.
From: Soft robotic hand with tactile palm-finger coordination
a The soft robotic hand mechanism mainly consists of a tactile palm, three soft fingers, and a palm-finger connector. b The palm integrates the visual-tactile sensing principle in a compact structure. c The design parameter of LED mounting height hl for the tactile palm is described by a geometric optical model. We take its minimum hlm as the optimal one to avoid the LED’s virtual image being reflected into the camera. In this model, the parameters θc wl, rp, and hca denote the field of view, the width of each LED, the palm radium, and the distance between the camera and the acrylic layer, respectively. d Each soft finger integrates two independent segments actuated by varied pneumatic pressures p1 and p2 to mimic the behaviors of the human finger.
