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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
High Adaptability and Load Capacity Optimization of Bio-inspired Dexterous Soft Gripper
Ruizhuo Shi1, Xiangli Pei2, Kaixuan Kon Kong2
1Nanjing University of Aeronautics and Astronautics, No. 29, Yudao street, Qinhuai District, 210016, Nanjing, China, Nanjing, 210016, China.
Bioinspiration & Biomimetics
|July 28, 2026
Summary
This study introduces a new optimization strategy for soft grippers, enhancing their load capacity and adaptability without adding complexity. The developed pneumatic soft gripper demonstrates superior performance in bending, load handling, and accommodating various object sizes.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Soft gripper systems offer flexibility and safety but struggle with balancing load capacity, deformation, complexity, and adaptability.
- Existing designs face challenges in achieving high performance across multiple parameters simultaneously.
Purpose of the Study:
- To introduce a collaborative optimization strategy for the design, fabrication, and control of a pneumatically actuated, tapered soft gripper.
- To enhance load-bearing capacity, adaptability, and dexterity while maintaining simplicity.
Main Methods:
- Integrated a design optimization method based on parameter-response analysis for adaptability.
- Developed a dual-layer control strategy for dexterous multi-grasping modes.
- Fabricated and experimentally validated a pneumatically actuated, tapered soft gripper.
Main Results:
- Achieved a maximum bending angle of 260 degrees and a load capacity of 15 N.
- Demonstrated excellent compliance, accommodating objects up to 252% of the finger span size.
- Maintained simplicity and controllability without increased complexity.
Conclusions:
- The proposed collaborative optimization strategy successfully balances simplicity, deformation, strength, and controllability in soft grippers.
- This systematic framework provides valuable insights for the entire lifecycle of soft gripper development, from simulation to control.
