Pneumatically Actuated Soft Robotic Finger

This was the final design project for ENME 444: Assistive Robotics. After reviewing the current design philosophies for similar devices, I decided there was significant room for improvement in the actual fabrication of these joints using 3D printing, as opposed to traditional silicone molds. I made a few prototypes on an FDM printer, although the actual paper we wrote called for a specialized SLA print using silicone resin.