#  Design 

 



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The design for the actuators of the soft robotic hand is based on the concepts of [fiber-reinforced actuators](/book/fiber-reinforced-bending-actuators), but the materials and fabrication techniques are much simpler. Ribbed plastic hose, of the kind found on inexpensive foot pumps, is used as the reinforcing material.

   ![Ribbed plastic hose from a cheap foot pump was used](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/ps_softrobothand_4237_square_small.jpg?itok=c1uUdoSe) 

 

A standard latex 350Q balloon, the kind used for making balloon animals and available at any party store, is used as the inner bladder.

   ![Latex ](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/ps_softrobothand_4238_square_small.jpg?itok=f8nr2zAo) 

 

There is a clear trade-off in reliability, as many of the fingers eventually failed... sometimes quite comically as the balloon expanded through the failed plastic of the constraining ribbed hose (see [Actuator Testing and Performance section](/hobbyist/testing/actuator)). Nevertheless the low cost and ease of fabrication make this a reasonable option where reliability is not a key factor. It is fairly easy to make a new finger to replace a broken one as needed.

Each actuator forms a finger, which was combined to make a completed hand by fastening to a toy armor gauntlet that happened to be available.

   ![Assembled hand with five actuators](/sites/g/files/omnuum4601/files/styles/hwp_1_1__720x720_scale/public/srtdesigncomp/files/ps_fluidiccontrolboard_122044_square_small.jpg?itok=-J3po3JV) 

 

The subsections will outline the design of the individual actuators, the hand as a whole, and the control board.