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Updated: Dec 25, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
A Gecko-Inspired Soft Passive Gripper
Arthur Seibel1, Mert Yıldız1, And Berkan Zorlubaş1
1Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany.
Abstract:
This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object's surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.
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