Zixie Liu

BCL-13: A 13-DOF Soft Robotic Hand for Dexterous Grasping and In-Hand Manipulation

This letter presents a dexterous soft robotic hand, BCL-13, with 4 fingers and 13 independently actuated joints capable of in-hand manipulation. The iconic dexterity is enabled by a novel soft robotic finger design with three degrees of freedom (DOFs), significantly improving over existing soft actu