  Classical rigid-bodied robotic systems are presented with proven success in
theoretical development and industrial applications, are recently challenged by
the emergence of soft robotics due to a growing need in physical human-robot
interactions (pHRI), such as wearable devices, medical robots, personal robots,
etc. In this paper, we present the design and fabrication of a robust, hybrid
bending actuator build from both rigid and soft components inspired by
crustaceans, where its bending radius and axis can be mechanically programmed
through the selective activation of the rigid exterior joints, actuated by the
soft actuators inside. The hybrid actuator was experimentally measured in terms
of bending and force tests to demonstrate the utility of this design. Finally,
a case study was presented to demonstrate its capacity to adapt to specific
objects geometry, anticipating its potential application in situations where
compliance is the priority.
