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 …

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 …

In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and
under-actuated design with simple structure and easy operation. The rotation of two …

Soft grippers have good adaptability and flexibility for grasping irregular or fragile objects,
and to further enhance their stiffness, soft grippers with variable stiffness have been …

This paper proposes a new variable stiffness soft gripper that enables high-performance
grasping tasks in industrial applications. The design of the proposed monolithic soft gripper …

Robotic grasping has become increasingly important in many application areas such as
industrial manufacturing and logistics. Because of the diversity and uncertainty of objects …

A new variable stiffness four-finger soft gripper with a combination of rigid and soft structures
is designed. The combination of rigid and soft structures is one of the methods to improve …

Compared with traditional rigid grippers, soft grippers are made of lightweight and soft
materials and have the characteristics of flexible contact and strong adaptability, which are …

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 …

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 …