The SORI is composed of two independent parts: the contact
area and stiffness rendering parts. The contact area rendering part, constructed from a toroidal soft pneumatic
actuator (SPA), manages the contact area with the fingertip upon inflation. Conversely, the stiffness rendering
part, designed using an origami prismatic joint combined with a pouch motor, regulates the force applied to
the fingertip.
Link to the paper: https://www.pnas.org/doi/10.1073/pnas.2314901121
