Shape-Adaptive Universal Soft Parallel Gripper for Delicate Grasping Using a Stiffness-Variable Composite Structure

The robotic gripper is an essential component for handling, manipulating, and transporting objects. However, the parallel rigid gripper, which one of most widely used grippers in robotics, has limitations handling fragile objects with a proper gripping force. We present shape-adaptive universal soft that can grip complex-shaped high holding skin extremely low stiffness ( ~ 46 kPa), even lower than tofu 57 kPa); hence, it inherently prevent damage to object. In addition, only area pressed by object selectively deformed, so contact surface be deformed match target contour. A transition from hard state follows achieve effective object, not just weak hanging as previous gripper. These characteristics are enabled sheet-shaped shape retention layer, honeycomb-shaped supporting four-sided wall structure increase shear modulus. applications show performance including tofu, preparing cocktail squeezed lemon, whole chicken soup.