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Related Experiment Video

Updated: Feb 16, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

A Soft Gripper with Rigidity Tunable Elastomer Strips as Ligaments.

Amir Mohammadi Nasab¹, Amin Sabzehzar¹, Milad Tatari¹

¹1 Mechanical Engineering Department, University of Nevada , Reno, Nevada.

|December 19, 2017

Summary

This study introduces a novel soft robotic gripper with programmable ligaments that can change stiffness using electrical current. This allows for versatile manipulation tasks, from grasping heavy loads to delicate object handling.

Keywords:

grasping and twisting rigidity tunable elastomer soft gripper

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Area of Science:

Robotics
Materials Science
Biomimetics

Background:

Soft robots can mimic natural organisms by actively tuning their mechanical rigidity.
This rigidity tuning allows for a wider range of motor tasks and adaptability to different objects.
Existing soft actuators often rely on complex systems of tubing and valves.

Purpose of the Study:

To demonstrate a soft robotic gripper with electrically tunable stiffness ligaments.
To showcase the gripper's ability to perform diverse manipulation tasks with a single pneumatic source.
To explore the potential of programmable ligaments in enhancing soft actuator versatility.

Main Methods:

Development of a three-fingered pneumatic gripper incorporating "programmable" ligaments.
Ligaments composed of a conductive, thermoplastic elastomer composite that softens with electrical resistive heating.
Integration of electrical activation for reversible stiffness changes within the gripper.

Main Results:

The gripper demonstrated controlled bending for picking up, twisting, and releasing objects.
All gripper motions were achieved using a single pneumatic pressure source.
Activation-deactivation cycles were completed within 15 seconds, showing rapid response.
The programmable ligaments reversibly softened and regained stiffness upon electrical activation and deactivation.

Conclusions:

Electrically programmable ligaments offer a novel method for controlling soft robotic actuators.
This technology enhances the versatility of soft grippers, reducing reliance on external valves and tubing.
The demonstrated gripper shows potential for advanced robotic manipulation in various applications.