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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
IonPad adhesive gripper with variable-stiffness endoskeleton
Yuno Takitani1, Keisuke Koyama1, Weiwei Wan1
1Department of Systems Innovation, Graduate School of Engineering Science, The University of Osaka, Toyonaka, Japan.
Frontiers in Robotics and AI
|August 5, 2026
Summary
This study introduces a novel adhesion gripper with a variable-stiffness endoskeleton for delicate object handling. It precisely controls contact and adhesion forces, enabling damage-free manipulation of thin, fragile plates.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Handling thin and fragile plate-like objects presents significant challenges in various industries.
- Existing grippers often lack the precision to manage varying thicknesses and delicate surfaces without causing damage.
Purpose of the Study:
- To develop an innovative adhesion gripper capable of handling plate-like objects of diverse thicknesses without damage.
- To enable precise control over contact and adhesion forces for delicate manipulation tasks.
Main Methods:
- Integration of an adhesion pad utilizing intermolecular forces.
- Development of a fluid-driven, origami-structured endoskeleton for variable stiffness.
- Control of fluid temperature to regulate contact and adhesion forces.
- Incorporation of an outer frame for object release via fluid aspiration.
Main Results:
- Demonstrated adjustable maximum contact force over a 27-fold range.
- Achieved tunable adhesion force with up to a 12-fold variation.
- Successfully handled thin plate components on uneven surfaces through fine contact force modulation.
Conclusions:
- The developed adhesion gripper offers precise and damage-free handling of fragile, thin objects.
- Its variable stiffness and force control capabilities open potential applications in delicate manipulation scenarios.
