{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T13:11:07Z","timestamp":1770815467177,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2025,4,8]],"date-time":"2025-04-08T00:00:00Z","timestamp":1744070400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Jiangsu Province \u2018six talent peaks\u2019 high-level talent project","award":["GDZB-024"],"award-info":[{"award-number":["GDZB-024"]}]},{"name":"Jiangsu Province \u2018six talent peaks\u2019 high-level talent project","award":["61901221"],"award-info":[{"award-number":["61901221"]}]},{"name":"Jiangsu Province \u2018six talent peaks\u2019 high-level talent project","award":["51305209"],"award-info":[{"award-number":["51305209"]}]},{"name":"Jiangsu Province \u2018six talent peaks\u2019 high-level talent project","award":["18KJA4600050"],"award-info":[{"award-number":["18KJA4600050"]}]},{"name":"National Natural Science Foundation of China funded projects","award":["GDZB-024"],"award-info":[{"award-number":["GDZB-024"]}]},{"name":"National Natural Science Foundation of China funded projects","award":["61901221"],"award-info":[{"award-number":["61901221"]}]},{"name":"National Natural Science Foundation of China funded projects","award":["51305209"],"award-info":[{"award-number":["51305209"]}]},{"name":"National Natural Science Foundation of China funded projects","award":["18KJA4600050"],"award-info":[{"award-number":["18KJA4600050"]}]},{"name":"Natural Science Research Project for Higher Education Institutions in Jiangsu Province","award":["GDZB-024"],"award-info":[{"award-number":["GDZB-024"]}]},{"name":"Natural Science Research Project for Higher Education Institutions in Jiangsu Province","award":["61901221"],"award-info":[{"award-number":["61901221"]}]},{"name":"Natural Science Research Project for Higher Education Institutions in Jiangsu Province","award":["51305209"],"award-info":[{"award-number":["51305209"]}]},{"name":"Natural Science Research Project for Higher Education Institutions in Jiangsu Province","award":["18KJA4600050"],"award-info":[{"award-number":["18KJA4600050"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To address the limitations of single-chamber soft grippers, such as constant curvature, insufficient motion flexibility, and restricted fingertip movement, this study proposes a soft gripper inspired by the structure of the human hand. The designed soft gripper consists of three fingers, each comprising three soft joints and four phalanges. The air chambers in each joint are independently actuated, enabling flexible grasping by adjusting the joint air pressure. The constraint layer is composed of a composite material with a mass ratio of 5:1:0.75 of PDMS base, PDMS curing agent, and PTFE, which enhances the overall finger stiffness and fingertip load capacity. A nonlinear mathematical model is established to describe the relationship between the joint bending angle and actuation pressure based on the constant curvature assumption. Additionally, the kinematic model of the finger is developed using the D\u2013H parameter method. Finite element simulations using ABAQUS analyze the effects of different joint pressures and phalange lengths on the grasping range, as well as the fingertip force under varying actuation pressures. Bending performance and fingertip force tests were conducted on the soft finger actuator, with the maximum fingertip force reaching 2.21 N. The experimental results show good agreement with theoretical and simulation results. Grasping experiments with variously sized fruits and everyday objects demonstrate that, compared to traditional single-chamber soft grippers, the proposed humanoid joint-inspired soft gripper significantly expands the grasping range and improves grasping force by four times, achieving a maximum grasp weight of 0.92 kg. These findings validate its superior grasping performance and potential for practical applications.<\/jats:p>","DOI":"10.3390\/s25082363","type":"journal-article","created":{"date-parts":[[2025,4,9]],"date-time":"2025-04-09T03:32:53Z","timestamp":1744169573000},"page":"2363","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Three-Chamber Actuated Humanoid Joint-Inspired Soft Gripper: Design, Modeling, and Experimental Validation"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4574-3900","authenticated-orcid":false,"given":"Yinlong","family":"Zhu","sequence":"first","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qin","family":"Bao","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hu","family":"Zhao","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0680-6908","authenticated-orcid":false,"given":"Xu","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,4,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"108256","DOI":"10.1016\/j.compag.2023.108256","article-title":"Non-destructive fruit firmness evaluation using a soft gripper and vision-based tactile sensing","volume":"214","author":"Lin","year":"2023","journal-title":"Comput. 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