Reconfigurable Inflatable Finger Actuator: Design and Shape Control

Limited by the Degree of Freedom (DOF), the controllable Degrees of Actuation (DOA) of flexible actuators are highly constrained, making it difficult to control their position and orientation during grasping. To address this, a pneumatically actuated reconfigurable chain-type finger actuator is proposed. This actuator consists of pneumatic chambers and rotational units, with each joint angle being adjustable. A mathematical model of the actuator was developed based on geometric approximation and pseudo-rigid-body theory, and its behavior changes were predicted through virtual simulations. Physical experiments further validated the actuator's behavior. The results show that the reconfigurable inflatable finger actuator achieves practical control over shape and posture during grasping, enhancing the stability of the grasp and better preserving the integrity of the target object.