{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:19:34Z","timestamp":1760145574429,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2024,7,28]],"date-time":"2024-07-28T00:00:00Z","timestamp":1722124800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science and Technology Council of Taiwan","award":["NSTC 112-2218-E-007-017"],"award-info":[{"award-number":["NSTC 112-2218-E-007-017"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pressure regulation in each air chamber, thus achieving superior precision compared to traditional PneuNets soft actuators. A rigid skeleton is integrated to enhance force transmission and measurement capabilities and thus ensure effective force handling and transmission within each module. The versatility of the actuator is demonstrated through its adaptability in various scenarios, and its features include adaptive positional control achieved by modulating the inflation in each air chamber. This research includes kinematic and kinetostatic analyses to ensure precise control of joint angles and forces at the finger\u2019s endpoint. Experimental results confirm the actuator\u2019s excellent performance and adaptability, providing valuable insights for advancing soft-actuator technology. The findings suggest significant potential for this actuator in diverse applications, emphasizing its role in the future development of precise and adaptable robotic systems.<\/jats:p>","DOI":"10.3390\/robotics13080116","type":"journal-article","created":{"date-parts":[[2024,7,29]],"date-time":"2024-07-29T07:54:03Z","timestamp":1722239643000},"page":"116","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-3750-656X","authenticated-orcid":false,"given":"Sheng-Guan","family":"Lin","sequence":"first","affiliation":[{"name":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8560-1777","authenticated-orcid":false,"given":"Jen-Yuan (James)","family":"Chang","sequence":"additional","affiliation":[{"name":"Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30013, Taiwan"},{"name":"Department of Mechanical and Computer-Aided Engineering, National Formosa University, Yunlin 63201, Taiwan"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1038\/s41578-021-00389-7","article-title":"Soft actuators for real-world applications","volume":"7","author":"Li","year":"2022","journal-title":"Nat. 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