Inter-build variability of anthropomimetic forearms

Evaluate inter-build variability in wrist stiffness and adaptive stiffness modulability across replicate anthropomimetic soft robotic forearms equipped with independently articulated carpal bones, controlled ligament lengths, and current-controlled muscle actuation.

Background

The reported results were obtained from a single physical anthropomimetic forearm. Although dedicated assembly jigs and current-controlled actuation were used to improve reproducibility of ligament lengths and muscle tension, the study does not establish whether the measured stiffness and modulability generalize across independently fabricated devices.

The authors explicitly reserve evaluation of inter-build variability for future work, making replication across multiple physical prototypes an unresolved empirical problem.