This paper presents a unified framework to analyze the manipulability and compliance of modular soft-rigid hybrid robotic fingers. The approach applies to both hydraulic and pneumatic actuation systems. A Jacobian-based formulation maps actuator inputs to joint and task-space responses. Hydraulic actuators are modeled under incompressible assumptions, while pneumatic actuators are described using nonlinear pressure-volume relations. The framework enables consistent evaluation of manipulability ellipsoids and compliance matrices across actuation modes. We validate the analysis using two representative hands: DexCo (hydraulic) and Edgy-2 (pneumatic). Results highlight actuation-dependent trade-offs in dexterity and passive stiffness. These findings provide insights for structure-aware design and actuator selection in soft-rigid robotic fingers.

Abstract-- We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a tank, and a pneumatic actuator. The tank is charged up by the pump during regular hopping motion that is created by the electric motors. At any time after reaching a desired air pressure in the tank, a solenoid valve is utilized to rapidly release the air pressure to the pneumatic actuator (piston) which is used in conjunction with the electric motors to perform explosive hopping, increasing maximum hopping height for one or subsequent cycles. We show that, on a customdesigned one-legged hopping robot, without any additional power source and with this novel pneumatic augmentation system, their associated system identification and optimal control, the robot is able to realize highly explosive hopping with power amplification per cycle by a factor of approximately 5.4 times the power of electric motor actuation alone.

Scientists have created an inflatable robotic hand that costs a fraction of more rigid prosthetic limbs and gives amputees real-time tactile control. The pliable design, which bears an uncanny resemblance to the inflatable robot in the animated film'Big Hero 6', includes five balloon-like fingers attached to a 3D-printed'palm' shaped like a human hand. Its creators are particularly excited because the parts cost around $500 (£362), making it much more affordable than other bionic limbs that can cost tens of thousands of dollars. The pliable design includes five balloon-like fingers attached to a 3D-printed'palm' shaped like a human hand Prosthetics that attach to part of the human body are often objects that allow a person to perform a specific function - such as blades for running. Scientists are working to develop prosthetics that are personalised and respond to the commands of the wearer.

It may sound like something out of a horror movie, but a knife-wielding robot could help forensic investigators learn more about an attack. Researchers have developed a'stabbing robot' that offers at least 60 possible stabbing positions and an interchangeable knife holder that allows for a range of stabbing implements to be analyzed by experts. The technology will assist investigators in understanding the type of knife, angle of the attack and stabbing technique used just by looking at the tears and distortions in the fabric around a wound. Researchers have developed a'stabbing robot' that offers at least 60 possible stabbing positions and an interchangeable knife holder that allows for a range of stabbing implements to be analyzed by experts The knife-wielding robot consists of a motorized arm with a pneumatic system designed to deliver 60 unique stabbing positions. A pneumatic system is a type of engineering that uses gas or pressurized air, which the team implemented power the stabbing arm.