Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D printed rigid endoskeleton covered by a soft matter. The overall integrated system resembles a biological structure in which a finger presents an anthropomorphic look. The mechanical properties of such structure are enhanced through optimization of the repetitive geometrical structures that constructs a flexure bearing as a joint for the fingers. The endoskeleton is formed by additive manufacturing of such geometries with rigid materials. The geometry of the endoskeleton was studied by finite element analysis (FEA) to obtain the desired properties: high stiffness against lateral deflection and twisting, and low stiffness in the desired bending axis of the fingers. Results are validated by experimental analysis.

翻译：软性和顺应性关节在抓握机构中的应用在近年来受到了越来越多的关注。本文提出了一种新颖的仿生软性手指的设计和开发，该手指由3D打印的刚性内骨架和软材料覆盖而成。整体集成系统看起来像一个生物结构，其中手指呈现出人形外观。通过优化构成指节挠度轴的反复几何结构来增强这种结构的机械性能。内骨架由刚性材料的这种几何结构的添加制造方式构成。借助有限元分析（FEA）研究了内骨架的几何形状，以获得所需的性能：高刚度抵抗横向挠度和扭曲，低刚度在手指所需的弯曲轴上。结果经过实验验证。