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3D fingerprint design proposal using spider movement mechanism and soft robotic technology



With recent advances in the field of 3D printing, new prosthetic features have been developed to provide accessibility to patients. However, the mechanisms employed for its performance still need to be better explored. In this article, a study is proposed on the angular variation between the joints of a human finger and a design solution based on soft robotics, in order to guide studies on prosthetic solutions.


A literature review was carried out on the applications of pneumatic actuators of soft robotics for the development of hand prostheses. As part of the theoretical aspects, the application of bending actuators that employ the dynamics of the movement of the legs of arachnids was also studied, in order to propose an application in the model. Finally, the angular variation was analyzed during the closing process of the right hand in order to apply the study in the construction of the prosthesis.


Despite the complexity of moving human fingers, it is possible to develop a prosthetic mechanism that integrates the capabilities of soft actuators and 3D-printed materials. In addition, the angulations of the joints of the index finger vary differently under the same impulse.


Using the spider’s movement mechanism, it is possible to develop a pneumatic actuator integrated with the rigid structures of the printed finger. In addition, the angular variation of the joints of the index finger changes differently under the same stimulus, which allows the application of soft robotics as a resource to mimic human movement.

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This work was supported by the “4D Printing and Biomimetics” (4DB) Research Group - a National Council for Scientific and Technological Development (CNPq) research group at the Federal University of ABC (UFABC) and it was financed by the São Paulo Research Foundation (FAPESP) via grant #2019/14099-5.


Grant #2019/14099-5, São Paulo Research Foundation (FAPESP).

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Correspondence to Gabriel Munakata or Silvia Titotto.

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Munakata, G., Zanini, P. & Titotto, S. 3D fingerprint design proposal using spider movement mechanism and soft robotic technology. Res. Biomed. Eng. 36, 361–368 (2020).

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  • Soft robotics
  • Hand prosthesis
  • 3D printing
  • Biomimetic