Multijointed Pneumatic Soft Hand with Flexible Thenar.

Soft robotic hands provide better safety and adaptability than rigid robotic hands. Furthermore, a multijointed structure that imitates the movement of a human hand represents significant progress in realizing its anthropomorphism. In this study, we present a multijointed pneumatic soft anthropomorphic hand that is capable of expressing letters through sign language and grasping different objects using three grasping modes, namely thumb grasping, precision grasping, and power grasping.