Soft Finger

Soft robotic fingers are being developed to enable robots to grasp and manipulate objects with dexterity and adaptability similar to human hands. Current research emphasizes improving force control through both mechanical design innovations (e.g., optimizing contact area and stiffness) and advanced control algorithms (e.g., utilizing kinesthetic feedback and incorporating tactile sensing). This work is driven by the need for robots capable of handling delicate or irregularly shaped objects in various applications, from manufacturing and surgery to assistive technologies. The development of accurate models, often incorporating stochastic approaches to account for material variability, is crucial for achieving robust and reliable control.