A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks.

ABSTRACT: A new generation of soft functional materials and actuator designs has ushered the development of highly advanced soft grippers as adaptive alternatives to traditional rigid end-effectors for grasping and manipulation applications. While being advantageous over their rigid counterparts, soft gripper capabilities such as contact effort are mostly a consequence of the gripper workspace, which in turn is largely constrained by the gripper design. Moreover, soft grippers designed for highly specific grasping tasks such as scooping grains or wide payloads are usually limited in grasping other payload types or in their manipulation versatility. This article describes a reconfigurable workspace soft (RWS) gripper that exploits compliant structures and pneumatic actuators to reconfigure its worksp

SUBMITTER: Jain S 

PROVIDER: S-EPMC10278002 | biostudies-literature | 2023 Jun

REPOSITORIES: biostudies-literature