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Related Experiment Video

Updated: Dec 30, 2025

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Published on: October 27, 2023

A Novel Underactuated Robotic Finger with Variable Stiffness Joints.

Zhicheng Teng, Guanghua Xu, Renghao Liang

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 18, 2020

Summary

This study introduces a novel robotic finger with variable stiffness joints, inspired by human anatomy and electrostatic adhesion. This design improves handling and safety for robotic applications.

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Area of Science:

Robotics
Biomimetics
Materials Science

Background:

Current robotic hands often use rigid joints, limiting dexterity and posing safety risks.
A need exists for compliant and adaptable robotic grippers that mimic human hand capabilities.

Purpose of the Study:

To propose and validate a novel underactuated robotic finger with variable stiffness joints.
To leverage human finger anatomy and electrostatic adhesion (ESA) for improved robotic grasping.

Main Methods:

Designed a 3D printable, one-piece robotic finger with three joints actuated by a single linear actuator.
Integrated variable stiffness joints using the electrostatic adhesion principle.
Constructed a portable prototype to test joint stiffness performance.

Main Results:

The robotic finger successfully mimics human finger flexion/extension.
Joint stiffness demonstrably increases with applied voltage, confirming ESA effectiveness.
The design is characterized by simple actuation, light weight, low cost, and compliant grasping.

Conclusions:

The novel variable stiffness robotic finger offers enhanced handling and safety compared to rigid designs.
This technology shows significant potential for applications in service robots and prosthetic hands.