# Design optimization of soft robotic fingers biologically inspired by the fin ray effect with intrinsic force sensing

> Research article (Mechanism and Machine Theory, 2023) · cited 41× · AI/ML

**Wikidata**: [openalex:W4386531676](https://www.wikidata.org/wiki/openalex:W4386531676)  
**Source**: https://4ort.xyz/entity/design-optimization-of-soft-robotic-fingers-biologically-inspired-by-the-fin-ray-effect-with-intrinsic-force-sensing