Track systems effectively distribute loads, augmenting traction and maneuverability on unstable terrains, leveraging their expansive contact areas. This tracked locomotion capability also aids in hand manipulation of not only regular objects but also irregular objects. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive network structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system's active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger's stiffness distribution and simplified models to assess the feasibility of repositioning and reorienting a grasped object. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.

翻译：轨道系统能有效分布载荷，利用其广阔接触面积增强在不稳定地形上的牵引力和机动性。这种轨道式运动能力同样有助于手部操作，不仅适用于常规物体，也适用于不规则物体。本研究提出一种软体机器人手指设计，其具有基于全向自适应网络结构的主动表面，可轻松安装在现有夹爪上，实现手内操作的稳定性与灵巧性。该系统的主动表面首先将物体从顺应性较低的指尖段转移至适应性更强的中指段。尽管手指会发生全向变形，仍可通过受控的主动表面执行手内操作。我们刻画了该软体手指的刚度分布并建立简化模型，以评估重新定位和调整被抓取物体姿态的可行性。利用所提出的手指开展了一系列手内操作实验，验证了该策略的灵巧性与鲁棒性。