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Updated: May 14, 2026

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

Rotational-Pinch-Inspired Method and Soft Gripper for Layer-by-Layer Fabric Separation.

Yuxi Feng¹, Liuwei Wang², Ruizhuo Shi³

¹Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China, Nanjing, 210016, China.

Bioinspiration & Biomimetics

|May 12, 2026

Summary

This summary is machine-generated.

This study introduces a novel gripper for automated fabric layer separation in garment manufacturing. The rotational-pinch method achieves over 96.7% success in nondestructive fabric layer detachment.

Keywords:

Bioinspired manipulation Bionic soft gripper Garment manufacturing automation Rotational-pinch grasping Stacked-fabric separation

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Area of Science:

Robotics
Textile Manufacturing
Materials Science

Background:

Automating layer-by-layer fabric separation is challenging due to textile deformability.
Current methods struggle to isolate top layers without disturbing adjacent ones, hindering garment manufacturing efficiency.

Purpose of the Study:

To develop an automated method for layer-by-layer fabric separation.
To design a soft pneumatic gripper mimicking human finger actions for precise fabric manipulation.

Main Methods:

A rotational-pinch-inspired grasping method using a soft pneumatic gripper.
Integration of pneumatic actuation and mechanical torsion to control fingertip parameters (opening distance, normal force, rotation angle).
Mechanical analysis to correlate parameters with shear deformation and interlayer detachment.

Main Results:

The gripper successfully enabled nondestructive, continuous, and stable fabric layer separation.
Achieved success rates exceeding 96.7% across six diverse garment fabrics.
Demonstrated adaptability to different stacking layers and grasping positions.

Conclusions:

The proposed grasping method and soft gripper offer a reliable solution for automated fabric layer separation.
This innovation supports the advancement of efficient, precise, and intelligent garment manufacturing processes.