Hiep Xuan Trinh

Theoretical Foundation for Design of Friction-Tunable Soft Finger With Wrinkle's Morphology

We present a theoretical model for the design of a soft-fingered robotic hand/gripper with a friction-tunable function based on the idea of active wrinkles on its surface. Inspired by the formation of wrinkles on the human finger in a wet environment, our robotic finger is integrated with a pneumati