{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T16:21:27Z","timestamp":1759335687738,"version":"3.44.0"},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2025,7,31]],"date-time":"2025-07-31T00:00:00Z","timestamp":1753920000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The human hand\u2019s exceptional dexterity and compliance, derived from its rigid-soft coupling structure and tendon-driven interphalangeal coordination, inspire robotic grippers capable of versatile grasping and force adaptation. Traditional rigid manipulators lack compliance for delicate tasks, while soft robots often suffer from instability and low load capacity. To bridge this gap, we propose a biomimetic multi-joint composite finger integrating a 3D-printed rigid phalanges (46\u201351 mm) with dual fabric-reinforced pneumatic bladders, mimicking human finger biomechanics. This hybrid design combines hinge-jointed rigidity and anisotropic fabric constraints, enabling two rotational degrees of freedom with higher radial stiffness, achieving 2.18\u00d7 higher critical burst pressure (240 kPa) than non-reinforced bladders, while preserving axial compliance. Experimental validation demonstrates a 4.77 N maximum fingertip force at 200 kPa and rapid recovery (&lt; 2s) post-impact. The composite finger exhibits human-like gestures (enveloping, pinching, flipping) and adapts to irregular\/fragile objects (e.g., eggs, screws) through coordinated bladder actuation. Assembled into a modular gripper, it sustains 1 kg payloads and executes thin-object flipping via proximal-distal joint synergy. This rigid-soft coupling design bridges compliance and robustness, offering high environmental adaptability for applications in industrial automation, human\u2013robot interaction, and delicate manipulation.<\/jats:p>","DOI":"10.1017\/s0263574725102014","type":"journal-article","created":{"date-parts":[[2025,7,31]],"date-time":"2025-07-31T06:07:09Z","timestamp":1753942029000},"page":"2975-2991","source":"Crossref","is-referenced-by-count":1,"title":["Bioinspired multi-joint hybrid finger: fabric-reinforced pneumatic actuation for adaptive and human-like grasping"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8841-0511","authenticated-orcid":false,"given":"Junqing","family":"Yin","sequence":"first","affiliation":[{"name":"Xi\u2019an Polytechnic University"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-6377-5336","authenticated-orcid":false,"given":"Jinlong","family":"Li","sequence":"additional","affiliation":[{"name":"Xi\u2019an Polytechnic University"}]},{"given":"Siqi","family":"Niu","sequence":"additional","affiliation":[{"name":"China Railway International Multimodal Transport Co., Ltd"}]},{"given":"Qingqing","family":"Xu","sequence":"additional","affiliation":[{"name":"Suqian University"},{"name":"Jiangsu Engineering Research Center of Key Technology for Intelligent Manufacturing 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