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Humanoid finger with rigid-flexible-soft structure

Author

Listed:
  • Boyang Lyu

    (China University of Geosciences
    Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
    Ministry of Education)

  • Huai Xiao

    (China University of Geosciences
    Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
    Ministry of Education)

  • Qingxin Meng

    (China University of Geosciences
    Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
    Ministry of Education)

  • Jundong Wu

    (China University of Geosciences
    Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
    Ministry of Education)

  • Yawu Wang

    (China University of Geosciences
    Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
    Ministry of Education)

  • Jinhua She

    (Tokyo University of Technology)

  • Edwardo F. Fukushima

    (Tokyo University of Technology)

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.

Suggested Citation

  • Boyang Lyu & Huai Xiao & Qingxin Meng & Jundong Wu & Yawu Wang & Jinhua She & Edwardo F. Fukushima, 2025. "Humanoid finger with rigid-flexible-soft structure," Nature Communications, Nature, vol. 16(1), pages 1-12, December.
    • Handle: RePEc:nat:natcom:v:16:y:2025:i:1:d:10.1038_s41467-025-65367-x
    DOI: 10.1038/s41467-025-65367-x
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    References listed on IDEAS

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    1. Daniel Belanche & Luis V. Casaló & Carlos Flavián & Jeroen Schepers, 2020. "Service robot implementation: a theoretical framework and research agenda," The Service Industries Journal, Taylor & Francis Journals, vol. 40(3-4), pages 203-225, March.
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