Soft grippers display adaptability, dexterity, and safety, garnering increased interest in their
applications. However, accurately modeling their nonlinear deformation and sensing the …

Systematic design, development and applications of Compliant Grippers (CGs) have surged
in the past decade. The works are diverse but information is dispersed. This paper provides …

The synthesis of tactile sensing with compliance is essential to many fields, from agricultural
usages like fruit picking, to sustainability practices such as sorting recycling, to the creation …

Owing to their tremendous adaptability to free-form objects, soft grippers with fin-ray
structure have a wide range of applications. However, kinetostatics analysis and contact …

In order to acquire the tracking information across a rotary joint, a dynamic frequency-
modulated continuous-wave (FMCW) laser ranging system is designed to couple through a …

The Fin Ray-type soft gripper (FRSG) is a typical soft gripper structure and applies the
deformation characteristics of the Fin Ray structure. This structure functions to stabilize the …

Adaptive grasping of diverse objects is crucial for soft robotic fingers. The design of
trapezoidal variable-section beams is increasingly recognized for its potential to enhance …

Dung beetles impressively coordinate their 6 legs to effectively roll large dung balls. They
can also roll dung balls varying in the weight on different terrains. The mechanisms …

This paper presents the design, analysis, and development of a dexterous hand driven by
TCP actuators, termed the SoroAgilHand-1. Using the elastic stress of the TCP array with the …

This paper introduces the TacFR-Gripper, a novel reconfigurable soft robotic gripper
inspired by the Fin-Ray effect and equipped with tactile skin. The gripper incorporates a four …