Bioinspired Morphology-Decoupled Soft Gripper with Enhanced Bidirectional Grasping Capability

The integrated handling of dynamic and static targets remains a formidable challenge for soft grippers. Although cross-modal grippers combine active and passive modes, they are constrained by inherent conflicts among precision, speed and strength, leading to bidirectional performance degradation. Here, inspired by principles of predation, we propose a strategy to decouple cross-modal grasping via dual morphological configurations. Guided by this strategy, we develop rigid-soft fingers and metamaterial palms. Through coordinated morphological synergy, we achieve optimization and fractal utilization of different grasping mechanisms. In the parallel configuration, the gripper employs an active compliant contact grasping mechanism. The cage configuration employs a soft constraint mechanism for the passive capture paradigm, combining spatial confinement and energy dissipation. Experiments demonstrate enhanced bidirectional grasping of static and dynamic targets, including multi-object storage and transfer, and uncooperative targets capture. This work achieves system-level optimization of grasping modes and multivariate abilities, opening new avenues for soft gripper paradigms.