This paper reports a theoretical study of the pneumatic balloon-jointed actuation, which has been utilized in the microfinger and the microhand to perform an out-of-plane rotation [1]. The finite element method (FEM) is utilized to describe and to predict the performance of this actuation, in terms of the actuation angles, forces, and structure stiffness. Several related geometrical parameters have been studied, providing the guidelines of the micro balloon-jointed actuation.

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