Nowadays, the development or improvement of soft actuation mechanisms is a crucialtopic for the achievement of dexterous manipulation using. Then, a primary target of research is thedesign of actuation and driving devices. Consequently, in this paper, we introduce a soft drivingepicyclical mechanism that mimics human muscle behavior and fulfills motion requirements toachieve grasping gestures using a robotic finger. The prototype is experimentally assessed, andresults show that our approach has enough performance for the implementation in grasping tasks.Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memoryalloys to allow active stiffness control of the mechanism.
