ArticleScience advances2025
Biomimetic rigid-soft finger design for highly dexterous and adaptive robotic hands.
Article in Science advances, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- Architected Load Paths Enable Stiffening and Motion Programming in Soft Pneumatic Actuators.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- A high-dexterity soft neuroprosthetic hand for daily activities.Nature communications · 2026Article
- Data-Driven Inverse Design Enables a Dexterous Hand with Human-Comparable Dynamic Performance in Structured Tasks.Biomimetics (Basel, Switzerland) · 2026Article
- Deep learning-enabled versatile shape perception for soft robots via single-ended multimode fiber.Science advances · 2026Article
- Universal bioinspired adhesives for arbitrary unknown surfaces toward dexterous robotic manipulation.Microsystems & nanoengineering · 2026Article
- Bioinspired Morphology-Decoupled Soft Gripper with Enhanced Bidirectional Grasping Capability.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Miniaturized 3D Magnetic Force Sensor via Laser-Assisted Folding and Magnetization for Enhanced Robotic Dexterity.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Design an anthropomorphic dexterous hand for expressive piano performance.Frontiers in neurorobotics · 2026Article
- Design of Adaptive LQR Control Based on Improved Grey Wolf Optimization for Prosthetic Hand.Biomimetics (Basel, Switzerland) · 2025Article
Corrections and comments
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Authors and funding
11 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In dexterous robotic hand design, achieving high mobility and adaptability comparable to human hands remains an ongoing challenge. Biomimetic designs mimicking the musculoskeletal structure have shown promise yet face difficulties in preserving key kinematic and mechanical principles while reducing system complexity. Here, we present a biomimetic finger design that preserves these principles through coordinated rigid-soft interplay, achieving structural and control simplicity for constructing dexterous robotic hands. Our design distills complex anatomical structures into skeletal mechanisms with regular geometrics, strategically deployed soft ligaments, and elastic tendon actuation, enabling controllable multi-degree-of-freedom dexterity while providing resilience and compliance. We establish mathematical models to analyze finger kinematics, rigid-soft interplay principles, and controllable actuation. Building on these models, we integrate biomimetic fingers with a thumb to develop an anthropomorphic robotic hand. Our robotic hand experimentally demonstrates remarkable dexterity and versatility across various tasks, including piano playing, power and pinch grasping, and in-hand manipulation, confirming the design effectiveness.
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