Anthropomimetic Soft Robotic Forearm with Independently Articulated Carpal Bones Enabling Human-Like Adaptive Stiffness Modulability

Yoshinobu Obata, Yinlai Jiang, Hiroshi Yokoi +1

The human wrist exhibits adaptive stiffness modulability: joint stiffness anisotropy can be actively regulated through muscle co-contraction. This functionality is essential for st…