Co-designed soft finger for a cobot hand
A soft printed finger whose shape was optimised together with its grasp in a learned simulator (a 2025 research paper), with a mount for a cobot parallel hand.
Compliant finger or jawVisual onlyNot an entrantMIT
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Facts
- Kind
- Compliant finger or jaw
- Class
- Open hardware (buildable)
- Capabilities
- pinchholds a part between two opposed tips or pads
- Mount
- The fingers of a cobot parallel hand (a printed mount is included).ISO pattern: none (own interface)
Specifications
| Spec | Value | Basis | Source |
|---|---|---|---|
| Origin | co-optimised soft finger, research paper 2025 | Sourced | Source |
Simulation
- Status
- Visual onlyVisual only (no physics)
- Fidelity
- n/a (no physics)
- Reason
- The upstream model is a learned soft-body simulator, not a MuJoCo model; soft fingers are not modelled here yet.
- Tournament
- Not an entrantThe upstream model is a learned soft-body simulator, not a MuJoCo model; soft fingers are not modelled here yet.
Licence
- MITCovers code and hardware files. Licence text
Licence rating: green. Full attribution: see the credits page.
Files
| File | Type | Size | Licence | Changed |
|---|---|---|---|---|
| cobot_hand_mount.stlassets/effectors/library/finger-soft-codesign/print/cobot_hand_mount.stl | Print file | 529.0 kB | MIT | as upstream |
| motor_horn.stlassets/effectors/library/finger-soft-codesign/print/motor_horn.stl | Print file | 458.8 kB | MIT | as upstream |
| soft_finger.3mfassets/effectors/library/finger-soft-codesign/print/soft_finger.3mf | Print file | 156.8 kB | MIT | as upstream |
Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.
Upstream
Linked, not mirrored
| What, and why | Size | Link |
|---|---|---|
| The same finger as an STL (2.3 MB): the 3MF is shipped instead. | 2.3 MB | Pinned file |