Figure 1From: A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton Structurea Structure of a single finger joint; b Bending deformation of the finger joint during air charging; c A–A section view; d Three-dimensional view of an endoskeleton unit. 1. Endoskeleton unit 1; 2. Endoskeleton unit 2; 3. Hinge; 4. Fiber; 5. Silicon rubber; 6. Flow channelBack to article page