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 …

Despite good performance in grasping irregular fragile objects, soft grippers exhibiting low
stiffness, and carrying capacity lack multidirectional grasping ability in the case of inclination …

This article presents the design principle and fabrication of a variable stiffness soft robotic
gripper for adaptive grasping and robust holding. The proposed robotic gripper is based on …

Most of the soft grippers with high payload cannot carry cumbersome control systems and
power sources themselves, and have to be tethered to external hardware through tubes and …

Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile
objects. However, the low loading capacity and less deformation limit the soft gripper for …

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 …

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 …

A novel soft-robotic gripper design is presented, with three soft bending fingers and one
passively adaptive palm. Each soft finger comprises two ellipse-profiled pneumatic …

Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential
applications in industry, agriculture, and healthcare. However, soft grippers rarely carry …

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 …