Con el acelerado avance de la microelectrónica y los sistemas de procesamiento, la robótica está irrumpiendo constantemente en nuevas áreas además de la industria. Algunos manipuladores robóticos requieren maniobrar objetos con propiedades dimensionales variantes, superficies complejas y texturas delicadas, lo que lleva a la búsqueda de diseños de efectores finales que presenten nuevas características mecánicas y de control. Asimismo, con las investigaciones continuas que se han desarrollado en la disciplina científica de la biomímesis, una opción muy confiable y viable es replicar principios de la naturaleza para desarrollar aplicaciones tecnológicas. En este documento se describe el diseño mecánico y la implementación física de una pinza robótica adaptativa y subactuada con mordazas basadas en la estructura del efecto FinRay®, que hace referencia a la reacción de movimiento de la aleta de un pez. Los resultados logrados demuestran su efectividad y adaptabilidad para la sujeción de distintos tipos de objetos.

Living organisms exhibit remarkable adaptability through distributed actuation and continuous deformation, thereby inspiring new paradigms in soft robotics. This paper presents a family of bioinspired heterogeneous soft modular robotic cubes designed to reproduce such adaptive mechanisms through coordinated pneumatic actuation. Each module combines elastomeric materials with inextensible fiber patterns that emulate muscular architectures, guiding deformation under pressurization. A hyperelastic Finite Element Analysis (FEA) framework was developed to predict deformation modes and experimentally validated using ultraviolet marker tracking. The modules exhibited diverse motions, including axial expansion, twist, bending, and shear, with close agreement between simulations and experiments. When assembled into a Cartesian soft platform, the modules demonstrated coordinated multi-axis movement. These results highlight the potential of bioinspired modular soft robots as scalable building blocks for robotic systems that bridge natural morphologies with engineered functionality, with the observed secondary couplings suggesting a pathway toward adaptive or reconfigurable behavior in future closed-loop implementations.

Soft robotics is increasingly explored in artistic contexts, where tactile interaction provides audiences with embodied engagement beyond visual or auditory signals. This article presents an interactive installation that maps semantic emotion analysis of narrative text into variable stiffness of soft pneumatic modules. A natural language model identifies two dominant emotions from a predefined set of six, driving the inflation of seven hexagonally arranged soft actuators. The central actuator represents the primary emotion, while the surrounding ones express the secondary one. We develop and mechanically characterize silicone actuators, called soft modules, featuring a thin membrane layer, demonstrating how this morphological control expands the achievable stiffness range while preserving simplicity and low-cost fabrication. A user study with 10 participants further evaluates how multisensory coupling of stiffness and LED intensity influences emotional perception. The results suggest that stiffness modulation accompanied by color change can support emotionally meaningful and engaging tactile interaction in soft robotic installations.