Figure 5
From: A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton Structure
Fabrication progress of the E-Gripper. a The endoskeleton consists of several basic units. b Three tubes are embedded into the endoskeleton. c One silicon rubber layer is glued around the endoskeleton, and the seal rings are sealed. d Circumferential fiber is evenly wound on the surface. e A complete soft finger. f E-Gripper with three fingers