  Application of soft and compliant joints in grasping mechanisms received an
increasing attention during recent years. This article suggests the design and
development of a novel bio-inspired compliant finger which is composed of a 3D
printed rigid endoskeleton covered by a soft matter. The overall integrated
system resembles a biological structure in which a finger presents an
anthropomorphic look. The mechanical properties of such structure are enhanced
through optimization of the repetitive geometrical structures that constructs a
flexure bearing as a joint for the fingers. The endoskeleton is formed by
additive manufacturing of such geometries with rigid materials. The geometry of
the endoskeleton was studied by finite element analysis (FEA) to obtain the
desired properties: high stiffness against lateral deflection and twisting, and
low stiffness in the desired bending axis of the fingers. Results are validated
by experimental analysis.
