This paper presents a novel structure-controlled variable stiffness robotic gripper that
enables adaptive gripping of soft and rigid objects with a wide range of compliance. With the …

This article presents a two-finger soft-robotic gripper with enveloping grasping (EG) and
pinching grasping (PG) modes. The proposed soft-robotic gripper is based on a two-finger …

The primary motivation of this study is to develop a cost-effective, safe, easily controlled, and
passively adaptive robotic gripper. A novel linear series elastic actuated robotic gripper …

For tasks requiring robot-environment interaction, compliant motion is important to ensure
stable contact and operational safety. The compliant actuators such as a series elastic …

The on-off control robot gripper is widely employed in pick-and-place operations in
Cartesian space for handling hard objects between two positions. Without contact force …

The robotic gripper is an essential component for handling, manipulating, and transporting
objects. However, the parallel rigid gripper, which is one of the most widely used grippers in …

Inspired by the morphology of human fingers, this paper proposes an underactuated rigid-
soft coupled robotic gripper whose finger is designed as the combination of a rigid skeleton …

The demand for flexible grasping of various objects by robotic hands in the industry is
rapidly growing. To address this, we propose a novel variable stiffness gripper (VSG). The …

Aiming at combining compliant covering and rigid lifting to the object grasping, this paper
presents the design principle of a variable stiffness soft gripper and carries out its structural …

Soft robots have advantages such as low weight and compact size compared to rigid robots.
Variable stiffness is one of the key methods of improving the performance of a soft robot. The …