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Related Experiment Video

Updated: Nov 9, 2025

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

Magnetically switchable soft suction grippers.

Anastasia Koivikko¹, Dirk-Michael Drotlef², Metin Sitti²

¹Faculty of Medicine and Health Technology, Tampere University, 33720 Tampere, Finland.

Extreme Mechanics Letters

|April 9, 2021

Summary

This summary is machine-generated.

This study introduces a novel magnetically switchable soft suction gripper. This innovative robot gripper can switch between soft and rigid states, enabling delicate handling and heavy object manipulation.

Keywords:

Hydraulic actuator Magnetorheological fluid Soft gripper Suction

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Traditional rigid grippers struggle with fragile or complex 3D objects due to excessive force application.
Soft robotic grippers excel at gentle manipulation but lack the force for heavy objects.

Purpose of the Study:

To develop a robot gripper capable of both delicate handling and strong gripping.
To overcome the limitations of existing soft and rigid grippers by enabling switchable stiffness.

Main Methods:

A soft suction gripper was designed with a magnetorheological (MR) fluid-filled suction cup.
Stiffness was switched between soft (low viscosity) and rigid (high viscosity) states using a magnetic field.
The gripper's performance was characterized by measuring pull-off force and demonstrating object picking.

Main Results:

Applying a magnetic field increased the gripper's pull-off force by up to 90% (7.1 N vs. 3.8 N).
The gripper successfully picked curved, rough, wet, and delicate objects.
The gripper demonstrated capability for both heavy object manipulation and delicate handling.

Conclusions:

The magnetically switchable soft suction gripper offers versatile force application capabilities.
This technology has significant potential for industrial pick-and-place applications involving diverse objects.
The gripper bridges the gap between soft robotics and traditional rigid grippers.