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Related Concept Videos

Design Example: Frog Muscle Response01:14

Design Example: Frog Muscle Response

A student is tasked to work on an intriguing experiment involving an RL (Resistor-Inductor) circuit to study the muscle response of a frog's leg to electrical stimulation. The RL circuit plays a crucial role in this experiment, providing the means to control and measure the electrical impulses that trigger muscle contraction.
When the switch connecting the RL circuit is closed, a brief muscle contraction is observed. This is because, at a steady state, the inductor acts like a short circuit,...
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Plastic Deformation in Circular Shafts

When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...

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Updated: Jul 12, 2026

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A Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales.

Min Sun1,2,3, Haonan Fu1, Hongshuai Lei2

  • 1Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, PR China.

Soft Robotics
|February 20, 2025
PubMed
Summary

This study introduces a novel soft gripper with multi-curvature and variable stiffness capabilities, inspired by snake scales. This adaptable gripper significantly broadens its clamping range for handling diverse object shapes in industrial settings.

Keywords:
multi-curvatureorthogonal experimentsnake scalesoft grippervariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional soft grippers struggle with objects of varying shapes and stiffness.
  • Existing designs often lack adaptability, limiting their stability and practical application in industrial settings.

Purpose of the Study:

  • To design and develop an adaptable soft gripper finger with multi-curvature and variable stiffness control.
  • To enhance gripper stability and usability for a wider range of object shapes.

Main Methods:

  • Developed a novel finger design incorporating a wedge actuator and two variable stiffness units (VSUs) inspired by snake scales.
  • Created a finite element model of the wedge actuator to analyze parameter influence on bending and force.
  • Utilized explicit dynamic analysis to predict and experimentally validate VSU stiffness variation under vacuum pressure.

Main Results:

  • The wedge actuator design parameters were optimized through orthogonal experiments for bending angle and tip output force.
  • The variable stiffness units demonstrated reliable stiffness adjustment under operational vacuum pressure.
  • The two-finger gripper successfully generated various clamping curvatures, conforming closely to objects.

Conclusions:

  • The developed soft gripper exhibits effective shape control and variable stiffness adjustment.
  • The gripper's ability to conform to objects significantly broadens its clamping range and applicability.
  • This innovation offers a more versatile solution for grasping diverse objects in industrial environments.