The performance of the human finger is a significant inspiration for designing soft robotic fingers that can achieve high speed and high force or perform delicate and complex tasks. Existing soft grippers and actuators can be excellent in specific capabilities. However, it is still challenging for them to meet an all-around performance as the human finger, characterized by high actuation speed, wide grasping range, sensing ability, and gentle and high-load grasping capability. The proposed tendon pulley quadrastable (TPQ) finger has combined these qualities in the conducted gripping tasks. A pair of elastic tendons is utilized as the sole energy reservoir to create a novel energy distribution pattern: energy-coupled quadrastability. An energy model is built to analyze and predict the behaviors of the TPQ finger. Mechanical instability is utilized to enhance the actuation speed. The proposed soft lever mechanism endows the TPQ finger with sensing ability. The energy barrier adjusting plates control the energy barrier, adjusting the sensitivity of both active and passive actuation mechanisms. The transition of four stable states forms preplanned trajectories that are applied to create multiple grasping manners. Experiments show that it can respond to stimuli and finish a grasping task in merely 31 ms, and its payload can reach 33.25 kg. At the same time, it can also handle fragile objects such as a piece of rose and grasp a wide range of objects ranging from a thin nut (3.3 mm in height) or a thin card (0.76 mm thick) to a football (220 mm).

中文翻译：

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具有能量耦合四方稳定性的软机器人手指。

人类手指的性能是设计软机器人手指的重要灵感，这些手指可以实现高速和高力量或执行精细和复杂的任务。现有的软夹具和执行器在特定功能方面非常出色。然而，它们要满足人类手指的全能性能，即高驱动速度、宽抓取范围、传感能力以及轻柔和高负载抓取能力，仍然具有挑战性。所提出的腱滑轮四稳（TPQ）手指在执行的抓取任务中结合了这些品质。一对弹性腱被用作唯一的能量储存器，以创建一种新颖的能量分布模式：能量耦合四方稳定性。建立能量模型来分析和预测 TPQ 手指的行为。利用机械不稳定性来提高驱动速度。所提出的软杠杆机构赋予 TPQ 手指传感能力。能量屏障调节板控制能量屏障，调节主动和被动致动机构的灵敏度。四种稳定状态的转变形成了预先规划的轨迹，用于创建多种抓取方式。实验表明，它可以在短短31毫秒内响应刺激并完成抓取任务，有效负载可达33.25公斤。同时，它还可以处理玫瑰花等易碎物体，抓取的物体范围很广，从薄螺母（高3.3毫米）或薄卡片（厚0.76毫米）到足球（220毫米） ）。