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The ulna and radius are parallel bones of the antebrachium or the forearm. The ulna lies medially and consists of a bony tip called the olecranon process at its proximal end. This hook-like projection articulates with the olecranon fossa of the humerus and forms the "hinged" ulnohumeral part of the elbow joint. This joint facilitates forearm extension and flexion while preventing its hyperextension. Similarly, the coronoid process, another bony projection on the proximal/anterior side...
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The radius is longer of the two bones that make up the human antebrachium or forearm. At the proximal end, the radius articulates with the capitulum of the humerus and the radial notch of the ulna to form the elbow joint. At the distal end, the radius articulates with the ulna via the ulnar notch, forming the distal radioulnar joint. Distally, the radius also attaches to the carpal wrist bones (scaphoid and lunate) to form the radiocarpal joint.
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Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
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The upper limb consists of the arm, forearm, wrist, and hand bones. The humerus is the single bone of the upper arm region. Proximally, it has a large, spherical, smooth head that articulates with the glenoid cavity of the scapula to form the glenohumeral or shoulder joint. The margin of the head is the anatomical neck, a residual epiphyseal plate. Laterally it extends to form bony projections called the greater tubercle and the lesser tubercle. Next to the tubercles is the surgical neck, a...
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Updated: Jan 11, 2026

Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
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Humanoid finger with rigid-flexible-soft structure.

Boyang Lyu1,2,3, Huai Xiao1,2,3, Qingxin Meng4,5,6

  • 1School of Automation, China University of Geosciences, Wuhan, China.

Nature Communications
|November 12, 2025
PubMed
Summary
This summary is machine-generated.

Researchers developed a novel humanoid finger combining rigid, flexible, and soft components for enhanced robotic grasping. This innovative design achieves high force and stability, broadening applications for rigid-flexible-soft robots.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotic grippers offer adaptability but often lack the force and stability of rigid grippers.
  • A key challenge is creating robotic fingers that exert high force while delicately handling fragile objects.

Purpose of the Study:

  • To design and evaluate a humanoid robotic finger with a rigid-flexible-soft structure.
  • To address the limitations of current soft grippers in terms of force output and stability.

Main Methods:

  • A humanoid finger was designed with rigid tubular bones, flexible joint springs, and a soft silicone skin.
  • A pneumatic membrane actuator was integrated between the bones and skin.
  • Experiments were conducted using grippers built with these fingers to test grasping capabilities.

Main Results:

  • The designed humanoid finger demonstrated successful grasping of diverse objects, including delicate items like tofu and paper, as well as larger objects like a basketball.
  • The grippers were able to support significant weight (5.275 kg).
  • The rigid-flexible-soft structure provided a balance of force, stability, and adaptability.

Conclusions:

  • The developed humanoid finger successfully integrates rigid, flexible, and soft elements to overcome limitations in robotic grasping.
  • This design broadens the application scope for rigid-flexible-soft robots in manipulation tasks requiring both strength and delicacy.