Portable prosthetic hand with soft pneumatic fingers

摘要

A finger actuator, includes a plurality of fluidically interconnected inflatable chambers, wherein each chamber comprises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator.