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In this paper,we describe a soft hand with variable stiffness structure actuated by shape memory alloy.The design of the variable stiffness finger is presented firstly.The experiments show that the stiffness of finger will be changed by heating SMA with different input current.In addition,the variable stiffness structure has an effect on the response speed of finger during the position tracking.Moreover,a soft hand with three fingers is fabricated to manipulate different shape and weight objects by adjusting the stiffness,which can improve the adaptability to environment,significantly.