The stiffness modulation mechanism for soft robotics has gained considerable attention to improve deformability, controllability, and stability. However, for the existing stiffness soft actuator, high lateral stiffness and a wide range of bending stiffness are hard to be provided at the same time. This paper presents a bioinspired bidirectional stiffening soft actuator (BISA) combining the air-tendon hybrid actuation (ATA) and a bone-like structure (BLS). The ATA is the main actuation of the BISA, and the bending stiffness can be modulated with a maximum stiffness of about 0.7 N/mm and a maximum magnification of 3 times when the bending angle is 45 deg. Inspired by the morphological structure of the phalanx, the lateral stiffness can be modulated by changing the pulling force of the BLS. The lateral stiffness can be modulated by changing the pulling force to it. The actuator with BLSs can improve the lateral stiffness about 3.9 times compared to the one without BLSs. The maximum lateral stiffness can reach 0.46 N/mm. And the lateral stiffness can be modulated decoupling about 1.3 times (e.g., from 0.35 N/mm to 0.46 when the bending angle is 45 deg). The test results show the influence of the rigid structures on bending is small with about 1.5 mm maximum position errors of the distal point of actuator bending in different pulling forces. The advantages brought by the proposed method enable a soft four-finger gripper to operate in three modes: normal grasping, inverse grasping, and horizontal lifting. The performance of this gripper is further characterized and versatile grasping on various objects is conducted, proving the robust performance and potential application of the proposed design method.

翻译：软机器人的僵硬调制机制(BISA)已经引起相当重视,以改善变硬性能、控制性和稳定性。然而,对于现有的僵硬软动画机,很难同时提供高横向僵硬和各种弯曲性硬性能,而对于现有的僵硬软动动画机来说,很难同时提供。本文展示了一种生动的双向硬软动动动器(BISA),结合了空气-加速混合动力(ATAA)和一个类似骨头的结构(BLS)。AATA是BISA的主要动力,弯曲的僵硬性能可以以0.7 N/mm的最大硬性能调制成,在弯曲角度45下的最大硬性能为3次的最大放大力。在变动BLS时,平面的硬性性性性能可以调整。在调动动动动动性能中,用BLIS的动作可以使较慢的更硬性能 6 与不动的硬性性能相比,在不动BLS6 的硬性能结构上, 最大调的硬性性性性性性性性性性性性能可以显示了NLSDM5 。在变硬的硬性能的硬性操作中可以使硬性性能,在硬性能的性能在硬性能上,在变变变变硬性能中可以显示的硬性能。