FIG 2 (IMAGE)

Compuscript Ltd

FIG 2

Caption

Fig. 2 | Design, working principles, and performance characterization of the BPSM and FBG-SenseGlove. (a) The BPSM consists of an elephant-trunk-inspired soft arm, a rotational wrist, and a five-finger anthropomorphic dexterous hand. (b) Modular components of the BPSM. (c) Multilayer construction of the soft arm and the structures of the three types of pneumatic actuators in the biomimetic hand. (d) Workspace of the three-joint soft finger. (e) Workspace of the two-joint soft finger. (f) Bending angles of the three actuator types under different pneumatic driving pressures. (g) Fingertip force measurements for the three-joint and two-joint soft fingers under different pneumatic driving pressures. (h) Schematic diagram of the FBG sensing principle. (i) Relationship between FBG tensile strain and center wavelength shift.

 

 

 

Credit

OEA

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