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Related Experiment Video

Updated: Oct 15, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Three-Fingered Soft Pneumatic Gripper Integrating Joint-Tuning Capability.

Lei Liu1, Junshi Zhang2, Geng Liu1

  • 1School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an, China.

Soft Robotics
|October 27, 2021
PubMed
Summary

This study introduces a novel soft gripper with tunable stiffness, enhancing its ability to grasp delicate and complex objects. The innovative design improves adaptability and performance in soft robotics applications.

Keywords:
bendingjoint-tuningsoft fingersoft grippervariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional rigid grippers struggle with fragile or complex objects.
  • Soft grippers offer flexible contact and adaptability but often lack variable stiffness.
  • There is a need for grippers that can adjust their stiffness for diverse grasping tasks.

Purpose of the Study:

  • To design and fabricate a three-fingered soft gripper with integrated joint-tuning and stiffness-tunable capabilities.
  • To model and experimentally validate the bending actuator's performance.
  • To investigate the impact of variable stiffness on grasping performance and load-carrying capacity.

Main Methods:

  • Fabrication of a soft gripper with internal bending actuators and external fiber-jamming jackets.
  • Development of static and kinematic models for bending actuator analysis.
  • Experimental measurement of bending angle and blocking force.
  • Application of jamming pressure to tune finger stiffness.
  • Testing grasping performance with various objects and weights.

Main Results:

  • Static and kinematic models accurately predicted bending actuator behavior.
  • The fiber-jamming jacket enabled variable stiffness and enhanced load-carrying capacity.
  • The soft gripper demonstrated improved grasping performance for diverse objects.
  • Achieved variable curvature bending deformation and joint-tuning capability through patterned jackets.

Conclusions:

  • The developed stiffness-tunable soft gripper with joint-tuning capability shows significant potential for soft robotics.
  • The integration of variable stiffness enhances grasping versatility and effectiveness.
  • This design offers a promising solution for handling fragile and complex-shaped objects.