This paper proposes a soft robot hand with pin-array structure and self-adaptive function. CTSA-II hand. where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise structure and consists of bases. https://www.bekindtopets.com/special-deal-Dermatomes-Foerster-Keegan-and-Garrett-map-Posterior-English-hot-value/