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A reconfigurable exoskeleton bionic rigid-soft combination gripper.

Ziyin Zhang1, Yanyan Wu2, Lei Zhang1

  • 1School of Mechanical and Transportation Engineering, Chongqing University, Chongqing 400000, People's Republic of China.

Bioinspiration & Biomimetics
|November 17, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel reconfigurable exoskeleton gripper inspired by spider legs. This advanced soft gripper enhances load-bearing capacity and adaptability for diverse object grasping tasks.

Keywords:
balloon actuationexoskeleton gripperpneumatic actuationreconfigurable gripperrigid-soft grippertheoretical modeling

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Soft-body grippers offer safe object manipulation but have limited load capacity due to material flexibility.
  • Traditional soft grippers struggle with stiffness, restricting their application range and payload.

Purpose of the Study:

  • To develop a reconfigurable exoskeleton bionic stiff-flexible gripper with enhanced stiffness and load-bearing capacity.
  • To overcome the limitations of traditional soft grippers by integrating a novel design inspired by spider hydraulic legs.

Main Methods:

  • Designed a gripper with three switchable working modes and a quick-connect mechanism for adaptability.
  • Utilized balloon actuators mimicking spider hydraulic legs for adaptive joint actuation and exoskeleton deformation.
  • Developed a theoretical model for nonlinear actuation based on balloon-exoskeleton interaction and performed finite element analysis for balloon simulation.
  • Enveloped the exoskeleton with a silicone membrane to improve flexibility and structural support.

Main Results:

  • The reconfigurable exoskeleton gripper successfully grasped objects ranging from 3-230 mm.
  • Achieved a maximum load-bearing capacity of 1 kg, significantly exceeding traditional soft grippers.
  • Demonstrated adaptability to various object sizes and masses through its switchable working modes.

Conclusions:

  • The proposed bionic stiff-flexible gripper significantly expands the application range and load-bearing capacity of soft grippers.
  • The reconfigurable exoskeleton design offers a promising solution for versatile and robust object manipulation in robotics.