Soft robots offer a myriad of potential because of their intrinsically compliant bodies,
enabling safe interactions with humans and adaptability to unpredictable environments.
However, most of them have limited actuation speeds, require complex control systems, and
lack sensing capabilities. To address these challenges, herein, a class of metacaps is
geometrically designed by introducing an array of ribs to a spherical cap with programmable
bistabilities and snapping behaviors, enabling several unprecedented soft robotic …