together with strategies to exploit their features to get robust grasps. This letter presents a
method to grasp objects using a novel reconfigurable soft gripper with embodied constraints,
the Soft ScoopGripper (SSG). The considered grasp strategy, called scoop grasp, exploits
the SSG features to perform robust grasps. The embodied constraint, ie, a scoop, is used to
slide between the object and a flat surface (eg, table, wall) in contact with it. The fingers are …