Soft-bodied finger, soft-bodied gripper and soft-bodied robot

A dual-channel soft-bodied finger comprising a fingertip, a finger junction, and a fingerboard, wherein:

• a plurality of flexible joints and a plurality of flexible shoulders are disposed at intervals on an upper portion of the fingerboard between the fingertip and the finger junction;
• a lower portion of the fingerboard is provided with a plurality of protrusions;
• an end portion of the finger junction is a convex annular-shaped body;
• a transition segment between the end portion of the finger junction and the flexible joints is a cone-shaped body;
• a first air channel and a second air channel are disposed inside the finger, and when the first and second air channels are inflated, air is guided into an air bag through the first and second air channels, the first and second air channels continuously communicate with the air bag and with each other to inflate or deflate the first and second channels with the same pressure, and
• a joint supporter disposed on the flexible joints.