ArticleNature communications2025
Humanoid finger with rigid-flexible-soft structure.
Article in Nature communications, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
4 citing papers in PubMed.
- Architected Load Paths Enable Stiffening and Motion Programming in Soft Pneumatic Actuators.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Gas-permeable and stretchable nanoscale anisotropic conductive film for room-temperature, pressure-free interconnections.Science advances · 2026Article
- Unraveling the Power of Disorder: A Bioinspired Cuttlebone Structure With Superior Strength, Energy Absorption and Isotropy.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Liquid metal universal grippers for gentle, adaptable, multiscale manipulation.Nature communications · 2026Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
7 authors.
Funding
Abstract
Soft robotic grippers offer adaptable and safe manipulation across diverse objects, but they often lack the output force and stability of rigid grippers. Developing fingers that deliver high force while delicately handling small or fragile objects remains a key challenge. Here, we design a humanoid finger with a rigid-flexible-soft structure, composed of rigid tubular bones, flexible joint springs with automatic reset and resistance to deformation under external forces, and a soft silicone skin. A pneumatic membrane actuator is placed between the bones and skin. To test its performance, we build various grippers using the proposed humanoid fingers and conduct experiments such as grasping tofu, pinching 0.1 mm paper, holding a 23.2 cm basketball, and supporting 5.275 kg weights. Our humanoid finger broadens the applications for rigid-flexible-soft robots.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.