S. J. Schouten et al., "3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers," 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), Lausanne, Switzerland, 2025, pp. 1-7, doi: 10.1109/RoboSoft63089.2025.11020868.
Abstract: Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.
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