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Related Experiment Video

Updated: Jul 10, 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

Bioinspired Coil-Wrap Soft Gripper with Frictional Self-Locking for Enhanced Adaptability and High Load Capacity.

Chunjie Wei¹, Jiantao Yao^1,2, Xianhe Yu¹

¹School of Mechanical Engineering, Yanshan University, Qinhuangdao, China.

|July 9, 2026

Summary

This study introduces a novel bioinspired soft coil-wrap gripper (CWG) that uses frictional self-locking for enhanced load capacity and object adaptability. The innovative design achieves a maximum payload of 310 N, exceeding typical actuation limits.

Keywords:

bioinspired gripper biomimetic coiling mechanism friction-based self-locking pneumatic actuation

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Area of Science:

Robotics
Biomimetics
Materials Science

Background:

Soft grippers offer advantages in handling delicate or irregular objects.
Existing soft grippers often face limitations in load capacity and grasping stability.
Bioinspiration provides novel design principles for robotic systems.

Purpose of the Study:

To develop a bioinspired soft coil-wrap gripper (CWG) with enhanced load capacity and object adaptability.
To investigate the mechanism of frictional self-locking for improved grasping robustness.
To demonstrate the gripper's performance in manipulating irregular objects.

Main Methods:

Designed a dual-layer pneumatic architecture with a biomimetic coiling mechanism.
Incorporated an auxiliary end pneumatic chamber for amplified pressure.
Engineered contact layers with differential friction coefficients to induce self-locking.
Conducted experimental validation with irregular objects of varying sizes.

Main Results:

The CWG achieved concurrent enhancements in load capacity and object adaptability.
Demonstrated effective manipulation of irregular objects (25-120 mm).
Achieved a maximum payload capacity of 310 N at 0.1 MPa pneumatic pressure.
Frictional self-locking significantly improved grasping robustness.

Conclusions:

The proposed bioinspired soft coil-wrap gripper offers a novel approach to soft robotics.
Frictional self-locking is an effective strategy for significantly increasing gripper load capacity.
The CWG demonstrates superior performance compared to conventional soft grippers in terms of payload and adaptability.