Dummy finger testbed for soft actuators

Dummy finger (4-DoF) with motion ranges similar to human fingers. Used for testing pneumatic fiber-reinforced elastomer actuators for finger motion assist.

One version is for force/torque measurements and the other is for motion capture, with predefined positions for placing 3 mm diameter markers.

A related article (Tarvainen et al., 2018; CC BY) about using the fingers in experiments, and the design and prototyping of fiber-reinforced pneumatic elastomer actuators, is available at: https://doi.org/10.3390/act7020031

For those interested, the related article has instructions for making multi-chamber soft actuators. STL files for a 3D-printable mold are also included in the supplementary materials.