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Structural Optimization of Adaptive Soft Fin Ray Fingers with Variable Stiffening Capability

Soft and adaptable grippers are desired for their ability to operate effectively in unstructured or dynamically changing environments, especially when interacting with delicate or deformable targets. However, utilizing soft bodies often comes at the expense of reduced carrying payload and limited performance in high-force applications. Hence, methods for achieving variable stiffness soft actuators are being investigated to broaden the applications of soft grippers. This paper investigates the structural optimization of adaptive soft fingers based on the Fin Ray® effect (Soft Fin Ray), featuring a passive stiffening mechanism that is enabled via layer jamming between deforming flexible ribs. A finite element model of the proposed Soft Fin Ray structure is developed and experimentally validated, with the aim of enhancing the layer jamming behavior for better grasping performance. The results showed that through structural optimization, initial contact forces before jamming can be minimized and final contact forces after jamming can be significantly enhanced, without downgrading the desired passive adaptation to objects. Thus, applications for Soft Fin Ray fingers can range from adaptive delicate grasping to high-force manipulation tasks.