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A new fluid-driven soft robot hand in this study uses the idea of the bionicsand has the anthropomorphic form, which is oriented to the flexible graspfunction. The soft robot hand is composed of a new kind of multi-freedom softfinger and soft palm, which realizes the characteristic grasping function offorehand and backhand. Combined with the fine fluid control system, the softhand can realize flexible grasping under high pressure, so as to realizeflexible grasping operation for different types of target objects in theunderwater environment. The soft robot hand was controlled based on waterhydraulic platform, Finally, the soft robot hand and the fine fluid controlsystem were connected to form the underwater soft robot hand experimentplatform.

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic