A Soft-Robotic Gripper With Enhanced Object Adaptation and Grasping Reliability

• Published in: IEEE robotics and automation letters Vol. 2; no. 4; pp. 2287 - 2293
• Main Authors: Zhou, Jianshu, Chen, Shu, Wang, Zheng
• Format: Journal Article
• Language: English
• Published: IEEE 01.10.2017
• Subjects: Actuators; Grasping; Grippers; pneumatic actuators; Reliability; Robots; Soft robotics; Thumb

A novel soft-robotic gripper design is presented, with three soft bending fingers and one passively adaptive palm. Each soft finger comprises two ellipse-profiled pneumatic chambers. Combined with the adaptive palm and the surface patterned feature, the soft gripper could achieve 40-N grasping force...