In soft robotics, there is still a great need for a universal but simple gripper that realizes a
high level of adaptability as well as a gentle touch to a wide variety of unknown objects of …

In the field of soft robotics there is still a great need for a versatile, simple, and affordable
gripper with a high level of adaptability to unknown objects of different sizes, shapes, and …

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 …

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 …

Precision manipulation tasks often require the use of compliant grippers to handle small and
delicate objects accurately. This paper proposes a novel low-cost underactuated compliant …

In this paper, we present a highly adaptive, 3-fingered, soft robotic gripper with a reasonably
low weight (657 g) that is capable of grasping various everyday life objects. The employed …

This article presents an innovative, motor-driven, three-finger compliant gripper for adaptive
grasping of size-varied delicate objects. An optimized compliant finger design is identified …

Highly flexible and environmentally adaptive soft robots have received considerable
attention. There remains a demand for soft robots to realize the stiffness modulation and …

Soft grippers are widely studied and utilized in soft robotics owing to their advantages in
terms of compliance, safety, and adaptability. Limited by the mechanical design and driving …

For a good soft gripper, it is desirable to have many grasping modes, variable stiffness and
high load capacity in order to adapt to all sort of target objects. However, most of the existing …