Humanoid finger with rigid-flexible-soft structure

Boyang Lyu, Huai Xiao, Qingxin Meng (), Jundong Wu (), Yawu Wang, Jinhua She and Edwardo F. Fukushima
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Boyang Lyu: China University of Geosciences
Huai Xiao: China University of Geosciences
Qingxin Meng: China University of Geosciences
Jundong Wu: China University of Geosciences
Yawu Wang: China University of Geosciences
Jinhua She: Tokyo University of Technology
Edwardo F. Fukushima: Tokyo University of Technology

Nature Communications, 2025, vol. 16, issue 1, 1-12

Abstract: Abstract Soft robotic grippers offer adaptable and safe manipulation across diverse objects, but they often lack the output force and stability of rigid grippers. Developing fingers that deliver high force while delicately handling small or fragile objects remains a key challenge. Here, we design a humanoid finger with a rigid-flexible-soft structure, composed of rigid tubular bones, flexible joint springs with automatic reset and resistance to deformation under external forces, and a soft silicone skin. A pneumatic membrane actuator is placed between the bones and skin. To test its performance, we build various grippers using the proposed humanoid fingers and conduct experiments such as grasping tofu, pinching 0.1 mm paper, holding a 23.2 cm basketball, and supporting 5.275 kg weights. Our humanoid finger broadens the applications for rigid-flexible-soft robots.

Date: 2025
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DOI: 10.1038/s41467-025-65367-x

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