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Journal articles on the topic 'Human inspired gripper'

Author: Grafiati

Published: 5 June 2025

Last updated: 2 August 2025

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1

Pasupuleti, Murali Krishna. "Bio-Inspired Robotic Grippers for Delicate Industrial Handling." International Journal of Academic and Industrial Research Innovations(IJAIRI) 05, no. 06 (2025): 89–102. https://doi.org/10.62311/nesx/rphcrefra4.

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This study proposes and evaluates a class of bio-inspired robotic grippers designed for delicate industrial handling tasks. Motivated by the need for precise, compliant manipulation in sectors such as electronics, food processing, and pharmaceuticals, this research draws inspiration from biological grasping mechanisms including gecko feet, octopus suckers, and human fingers. A soft robotic gripper with tendon-driven actuation and compliant fingers was developed and tested using industrial-grade sensors. Gripper performance was quantitatively assessed through force sensitivity, object slippage

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2

Song, Eun Jeong, Jung Soo Lee, Hyungpil Moon, Hyouk Ryeol Choi, and Ja Choon Koo. "A Multi-Curvature, Variable Stiffness Soft Gripper for Enhanced Grasping Operations." Actuators 10, no. 12 (2021): 316. http://dx.doi.org/10.3390/act10120316.

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For soft grippers to be applied in atypical industrial environments, they must conform to an object’s exterior shape and momentarily change their stiffness. However, many of the existing grippers have limitations with respect to these functions: they grasp an object with only a single curvature and a fixed stiffness. Consequently, those constraints limit the stability of grasping and the applications. This paper introduces a new multicurvature, variable-stiffness soft gripper. Inspired by the human phalanx and combining the phalanx structure and particle jamming, this work guarantees the requi

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3

Crooks, Whitney, Shane Rozen-Levy, Barry Trimmer, Chris Rogers, and William Messner. "Passive gripper inspired by Manduca sexta and the Fin Ray® Effect." International Journal of Advanced Robotic Systems 14, no. 4 (2017): 172988141772115. http://dx.doi.org/10.1177/1729881417721155.

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Soft robotic grippers are advantageous for tasks in which a robot comes into close contact with a human, must handle a delicate object, or needs to conform to an object. Most soft robotic grippers, like their hard counterparts, require actuation to maintain a grip on an object. Here, we present a passive, soft robotic gripper that requires power to open and close but not to maintain a grip, which can be problematic in environments with limited energy availability (e.g. solar or battery power). Passive grip, by not requiring power to maintain grip on an object, provides a unique and safe altern

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4

Nguyen, Van Pho, Sunil Bohra Dhyan, Vu Mai, Boon Siew Han, and Wai Tuck Chow. "Bioinspiration and Biomimetic Art in Robotic Grippers." Micromachines 14, no. 9 (2023): 1772. http://dx.doi.org/10.3390/mi14091772.

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The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, d

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5

Zhu, Yinlong, Qin Bao, Hu Zhao, and Xu Wang. "Three-Chamber Actuated Humanoid Joint-Inspired Soft Gripper: Design, Modeling, and Experimental Validation." Sensors 25, no. 8 (2025): 2363. https://doi.org/10.3390/s25082363.

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To address the limitations of single-chamber soft grippers, such as constant curvature, insufficient motion flexibility, and restricted fingertip movement, this study proposes a soft gripper inspired by the structure of the human hand. The designed soft gripper consists of three fingers, each comprising three soft joints and four phalanges. The air chambers in each joint are independently actuated, enabling flexible grasping by adjusting the joint air pressure. The constraint layer is composed of a composite material with a mass ratio of 5:1:0.75 of PDMS base, PDMS curing agent, and PTFE, whic

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6

Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.

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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed

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7

Stokes, Mary E., John K. Mohrmann, Chase G. Frazelle, Ian D. Walker, and Ge Lv. "The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper." Robotics 13, no. 3 (2024): 52. http://dx.doi.org/10.3390/robotics13030052.

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Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasping with current robot hands. In this paper, we describe the design, development, and testing of a four-fingered gripper which features a novel combination of actively actuated rigid and compliant elements. The scale of the gripper is unusually large compared to most existing robot hands. The overal

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8

Perez-Sanchez, Vicente, Francisco Javier Garcia-Rubiales, Saeed Rafee Nekoo, Begoña Arrue, and Anibal Ollero. "Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation." Machines 11, no. 9 (2023): 859. http://dx.doi.org/10.3390/machines11090859.

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The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment and devices to them for application. The addition of lightweight manipulators, grippers, and mechanisms to fulfill specific tasks has been reported frequently recently. This work pushes the idea one step ahead and uses an Artificial Human Hand (AHH) in an uncrewed aerial vehicle for aerial manipulation, device delivery, and co-operation with human workers. This application requires an effective end-effector capable of grasping and holding objects of different shapes. The AHH

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9

Nemati, Hamidreza, Fernando Alvidrez, Ankit Das, et al. "Integrating Electromagnetic Acoustic Transducers in a Modular Robotic Gripper for Inspecting Tubular Components." Materials Evaluation 79, no. 7 (2021): 715–27. http://dx.doi.org/10.32548/2021.me-04223.

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Tubular structures are critical components in infrastructure such as power plants. Throughout their life, they are subjected to extreme conditions or suffer from defects such as corrosion and cracks. Although regular inspection of these components is necessary, such inspection is limited by safety-related risks and limited access for human inspection. Robots can provide a solution for automatic inspection. The main challenge, however, lies in integrating sensors for nondestructive evaluation with robotic platforms. As part of developing a versatile lizard-inspired tube inspector robot, in this

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10

Chen, Fa-Yi, Zhe-Xian Ren, and Gih-Keong Lau. "Maximal strengths of dielectric elastomer fingers for a passive grip." Smart Materials and Structures 31, no. 4 (2022): 045014. http://dx.doi.org/10.1088/1361-665x/ac57b0.

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Abstract Dielectric elastomer minimum energy structures (DEMESs) are useful as low-force robotic grippers; they can sweep a large angle but carry not much load. It was a design dilemma to reinforce the benders without compromising the stroke angle. As a stronger variant of DEMES, a dielectric elastomer (DE) finger can unbend the ‘phalanges’ of a load beam upon activation of the ‘intrinsic muscles’ of the dielectric elastomer actuator (DEA). The DE finger used a uniform tendon hood that raises the tension center of a single-layered DEA and thus enhances the moment generation and load capacity.

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11

Li, Xiaosong, Xinxin Li, Lvzhou Li, Yonggang Meng, and Yu Tian. "Load Sharing Design of a Multi-legged Adaptable Gripper With Gecko-Inspired Controllable Adhesion." IEEE Robotics and Automation Letters 6, no. 4 (2021): 8482–89. http://dx.doi.org/10.1109/lra.2021.3107603.

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Sithiwichankit, Chaiwuth, and Ratchatin Chanchareon. "Advanced Stiffness Sensing through the Pincer Grasping of Soft Pneumatic Grippers." Sensors 23, no. 13 (2023): 6094. http://dx.doi.org/10.3390/s23136094.

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In this study, a comprehensive approach for sensing object stiffness through the pincer grasping of soft pneumatic grippers (SPGs) is presented. This study was inspired by the haptic sensing of human hands that allows us to perceive object properties through grasping. Many researchers have tried to imitate this capability in robotic grippers. The association between gripper performance and object reaction must be determined for this purpose. However, soft pneumatic actuators (SPA), the main components of SPGs, are extremely compliant. SPA compliance makes the determination of the association c

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Sivaperuman Kalairaj, Manivannan, Hritwick Banerjee, Kirthika Senthil Kumar, Keith Gerard Lopez, and Hongliang Ren. "Thermo-Responsive Hydrogel-Based Soft Valves with Annular Actuation Calibration and Circumferential Gripping." Bioengineering 8, no. 9 (2021): 127. http://dx.doi.org/10.3390/bioengineering8090127.

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Valves are largely useful for treatment assistance devices, e.g., supporting fluid circulation movement in the human body. However, the valves presently used in biomedical applications still use materials that are rigid, non-compliant, and hard to integrate with human tissues. Here, we propose biologically-inspired, stimuli-responsive valves and evaluate N-Isopropylacrylamide hydrogels-based valve (NPHV) and PAAm-alginate hydrogels-based valve (PAHV) performances with different chemical syntheses for optimizing better valve action. Once heated at 40 ∘C, the NPHV outperforms the PAHV in annular

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14

Zhuo, Shuyun, Ziguang Zhao, Zhexin Xie, et al. "Complex multiphase organohydrogels with programmable mechanics toward adaptive soft-matter machines." Science Advances 6, no. 5 (2020): eaax1464. http://dx.doi.org/10.1126/sciadv.aax1464.

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Many biological organisms can tune their mechanical properties to adapt to environments in multistable modes, but the current synthetic materials, with bistable states, have a limited ability to alter mechanical stiffness. Here, we constructed programmable organohydrogels with multistable mechanical states by an on-demand modular assembly of noneutectic phase transition components inside microrganogel inclusions. The resultant multiphase organohydrogel exhibits precisely controllable thermo-induced stepwise switching (i.e., triple, quadruple, and quintuple switching) mechanics and a self-heali

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15

Sharma, Yash, Claire Guo, Matthew Beatty, Laura Justham, and Pedro Ferreira. "Mechanoreceptor-Inspired Tactile Sensor Topological Configurations for Hardness Classification in Robotic Grippers." Electronics 14, no. 4 (2025): 674. https://doi.org/10.3390/electronics14040674.

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Human hands have the unique ability to classify material properties, such as hardness, using mechanoreceptors and tactile information. Previous studies have demonstrated hardness classification using Commercial Off-The-Shelf (COTS) sensors but lacked robotic integration considerations. This study explores the integration of multiple COTS sensors, inspired by mechanoreceptors, for classifying material hardness. The sensors were used to classify objects into three categories—hard, soft, and flexible—based on the qualitative Shore hardness scale. The aim was to identify the optimal sensor topolog

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16

Yue, Rong Gang, and Shao Ping Wang. "A Survey of Technologies for Climbing Robots." Applied Mechanics and Materials 236-237 (November 2012): 556–62. http://dx.doi.org/10.4028/www.scientific.net/amm.236-237.556.

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To replace human workers in dangerous environments or difficult-to-access places, climbing robots with the ability to travel on different types of surfaces (floors, walls, ceilings) and to walk between such surfaces were developed. The most important technology for a climbing robot is how to resist gravity, and adhere to surfaces. This paper presents mainly six types of adhesion technologies to ensure climbing robot sticks to wall surfaces: magnetic adhesion, vacuum suction techniques, attraction force generators, grasping grippers, bio-mimetic approaches inspired by climbing animals, and comp

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17

STARETU, IONEL. "The most important source of inspiration for artificial gripping systems are natural gripping systems." Journal of Engineering Sciences and Innovation 8, no. 2 (2023): 139–58. http://dx.doi.org/10.56958/jesi.2023.8.2.139.

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The main role of a gripping biosystem is to grasp-grip a body-object, which can then be transferred from one place to another. Gripping biosystems can be very simple, like two areas of soft biological tissue that can grasp a body nearby, such as the extremities of the elephant's trunk, but also very complex as the human hand, considered the best gripping biosystem. Some gripping biosystems are adaptated to increase the safety of the grip such as the octopus arm which is provided with suction cups to compensate for the reduced friction in the aquatic environment. The paper first classifies biog

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18

Velásquez, Luis Alberto, Evelin Teresa Perdomo Montaña, and Sandra Yorkley Alvarado Mendoza. "COVID-19 y el Paradigma del cuidado de sí mismo." Revista Scientific 7, no. 25 (2022): 328–41. http://dx.doi.org/10.29394/scientific.issn.2542-2987.2022.7.25.18.328-341.

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La pandemia de COVID-19 ha impulsado una revisión crítica de los patrones de comportamiento relacionados con la salud, propiciando el surgimiento de un nuevo paradigma sobre el cuidado del cuerpo y la mente. Inspirado en la propuesta de Foucault (1994), sobre el “cuidado de sí mismo”, este ensayo explora la intersección entre las reflexiones filosóficas y las recomendaciones científicas hacia un enfoque holístico de la salud. Se destaca cómo la experiencia de la pandemia ha conducido a una reflexión profunda sobre la relación entre el individuo, su salud y la comunidad científica, enfatizando

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19

Zakaryan, N. B., M. G. Harutyunyan, and Yu L. Sarkissyan. "CONCEPTUAL DESIGN AND BIO-INSPIRED CONTROL OF A NEW SURGICAL SOFT ROBOTIC GRIPPER." MECHANICS, MACHINE SCIENCE, MACHINE-BUILDING, 2023. http://dx.doi.org/10.53297/18293387-2023.2-41.

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This paper describes the design and development of a novel soft robotic gripper for minimally invasive surgery (MIS) intended to remove foreign bodies from the patient's body by imitating human esophageal swallowing motions. The robotic gripper operates as follows: after locating and contacting the foreign body, the last segment of the gripper is expanding or contracting to match the size and catch the targeted object, then pushes forward, or bends it with its legs and starts to remove the object by a rhythmic peristaltic (periodically repeated) motion. This mode of the gripper’s operation all

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20

Fu, Min, Gangqiang Yang, Wei Ren, Yuxuan Liu, and Ji Cui. "A Biologically Inspired Soft Gripper with the Variable Morphology Palm." Journal of Mechanisms and Robotics, June 30, 2025, 1–19. https://doi.org/10.1115/1.4069047.

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Abstract Insufficient grasping force, limited stability, and limited grasping modes have been persistent challenges for soft grippers, garnering increased interest in their studies. This paper presents a variable morphology soft gripper, comprising a variable morphology palm and four finned dual-chamber soft fingers (FDF). Inspired by the fin ray effect, the addition of the fin structure to the substrate of an ordinary dual-chamber soft finger (ODF) enhances the contact area between the finger and the object's surface, thereby increasing grasping force. Based on the structure and motion charac

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21

Cui, Yafeng, Xin An, Zhonghan Lin, Zhibin Guo, Xin-Jun Liu, and Huichan Zhao. "Design and implementation of an underactuated gripper with enhanced shape adaptability and lateral stiffness through semi-active multi-degree-of-freedom endoskeletons." International Journal of Robotics Research, December 14, 2023. http://dx.doi.org/10.1177/02783649231220674.

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Grasping is a key task for robots to interact with humans and the environment. Soft grippers have been widely studied and some have been applied in industry and daily life. Typical soft grippers face two challenges: lack of stiffness and insufficient adaptability to various objects. Inspired by the human hand, this paper proposes a soft-rigid hybrid pneumatic gripper composed of fingers with soft skin and rigid endoskeletons, and an active palm. Through different combinations of the four joints’ locking states within the rigid endoskeleton, each finger obtains 9 different postures in its infla

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Sun, Tianhui, Wenqing Chen, Jingyang Li, et al. "A versatile and high-load soft gripper enabled by vacuum-assisted bio-inspired interfacial adhesion." Smart Materials and Structures, December 11, 2023. http://dx.doi.org/10.1088/1361-665x/ad1427.

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Abstract Soft robotic grippers have gained considerable attention owing to their highly compliant, adaptive, and safe characteristics in a large variety of scenes, especially involving human-machine interactions. However, the low-stiffness nature of the soft material and the multi-finger gripping mechanism make soft grasping systems suffer in applications requiring relatively high load capacity and broad grasping adaptability. Despite extensive efforts to develop soft grippers with tunable stiffness by constructing smart materials and structures, the resultant load capacity is often compromise

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Chen, Zihan, and Junqing Yin. "Dual-drive integrated bionic finger inspired by human finger tendon-flesh tissue." Journal of Mechanisms and Robotics, June 13, 2025, 1–31. https://doi.org/10.1115/1.4068926.

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Abstract The rising prevalence of human-machine interaction in industrial processes has led to increased interest in soft fingers, thanks to their superior safety and mechanical compliance. Human fingers, known for their exceptional grasping properties, serve as a significant inspiration in soft finger research. This study introduces a tendon–pneumatic-driven (TPD) soft finger, inspired by the tendon–flesh organization of human fingers. The TPD finger comprises a tendon-driven (TD) module and a pneumatic-driven (PD) module. The integration of these modules allows the TPD finger to achieve outs

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Zhang, Yin, Wang Zhang, Pan Gao, Xiaoqing Zhong, and Wei Pu. "Finger-palm synergistic soft gripper for dynamic capture via energy harvesting and dissipation." Nature Communications 13, no. 1 (2022). http://dx.doi.org/10.1038/s41467-022-35479-9.

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AbstractRobotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demonstrate a rapid energy harvesting and dissipation mechanism for the soft grippers leveraging the finger-palm synergy. Theoretically and experimentally, this mechanism enables a soft gripper to reliably capture high-speed targets by dissipating and harvesting almost all the target’s kinetic en

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Wang, Liuwei, JiaPeng Xie, Shuangjie Wang, et al. "Gecko‐Inspired Adhesive Grasping from Convex to Flat Surfaces with Contact Sensing." Advanced Intelligent Systems, February 2, 2025. https://doi.org/10.1002/aisy.202400864.

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This article introduces a gecko‐inspired, rolling, inward adhesion/outward release gripper with adhesive contact sensing for grasping convex‐to‐flat surfaces. The gripper consists of pneumatically driven hierarchical adhesive modules (bio‐toe) with the capability of contact sensing, and rolling inward/outward module (rolling module). The bio‐toe manufactured using soft materials can safely and flexibly cater to curved and flat surfaces. The rolling module developed using four‐bar linkage mechanism allows the opposing bio‐toes to roll inward to enhance adhesion (adhesion forces up to 6.3 N on a

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26

Bhat, Pooja, Matthias Nieuwenhuisen, and Dirk Schulz. "Human-Inspired Non-prehensile Manipulation Strategies: Design, Implementation, and Evaluation." SN Computer Science 5, no. 1 (2023). http://dx.doi.org/10.1007/s42979-023-02378-9.

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AbstractGrasping of objects is not always feasible for robot manipulators, e.g., due to their geometric properties. Non-prehensile manipulation strategies can enable manipulators to successfully move these objects around. We analyze human-inspired gripper configurations for pushing small or heavy objects and propose closed-loop pushing strategies based on force-torque measurements as well as open-loop strategies to push small objects. In a thorough evaluation on a KUKA LWR4+ manipulator arm and in simulation, we discuss the effects of the different designs and strategies.

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Badhniwalla, Pakshan, Akshay Gangakhedkar, Liam Bhambhani, Uchit Shriyan, and Chetna Sharma. "Exploring biomimicry in robotic systems: Nature-inspired pneumatic control and claw-inspired gripper for enhanced pick-and-place efficiency." Innovation and Emerging Technologies 11 (January 2024). https://doi.org/10.1142/s2737599424400188.

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In the realm of advanced manufacturing, the integration of digital technologies has revolutionized industrial processes; this paper explores the fusion of nature-inspired design principles with advanced robotics in the context of a Cartesian pneumatically controlled robotic system. Leveraging the elegance of biomimicry, the system integrates a claw-inspired gripper for precision pick-and-place operations. The study employs digital twin technology to enhance the understanding and optimization of the robotic system. By embracing nature-driven design, the Cartesian robotic arm is engineered for e

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28

Stavridis, Sotiris, Leonidas Droukas, and Zoe Doulgeri. "Bimanual grape manipulation for human-inspired robotic harvesting." IEEE/ASME Transactions on Mechatronics, October 2, 2024. https://doi.org/10.1109/TMECH.2024.3459479.

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Most existing robotic harvesters utilize a unimanual approach with a single arm grasping and detaching the crop, either via a detachment movement, or stem cutting by a specially designed gripper/cutter end-effector. However, such unimanual solutions cannot be applied for sensitive crops and cluttered environments like grapes, where obstacles may occlude the stem, leaving no space for the cutter’s placement. In such cases, the solution would require a bimanual robot that visually unveilsthe stem, while manipulating the grasped crop to create cutting affordances. Considering grapes vertica

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Vicente, Perez-Sanchez, Javier Garcia-Rubiales Francisco, Saeed Rafee Nekoo, Arrue Begoña, and Ollero Anibal. "Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation." August 30, 2023. https://doi.org/10.3390/machines11090859.

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The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment and devices to them for application. The addition of lightweight manipulators, grippers, and mechanisms to fulfill specific tasks has been reported frequently recently. This work pushes the idea one step ahead and uses an Artificial Human Hand (AHH) in an uncrewed aerial vehicle for aerial manipulation, device delivery, and co-operation with human workers. This application requires an effective end-effector capable of grasping and holding objects of different shapes. The AHH

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Mao, Baijin, Kunyu Zhou, Yuyaocen Xiang, et al. "A Bioinspired Robotic Finger for Multimodal Tactile Sensing Powered by Fiber Optic Sensors." Advanced Intelligent Systems, June 2, 2024. http://dx.doi.org/10.1002/aisy.202400175.

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The rapid advancement of soft robotic technology emphasizes the growing importance of tactile perception. Soft grippers, equipped with tactile sensing, can gather interactive information crucial for safe human–robot interaction, wearable devices, and dexterous manipulation. However, most soft grippers with tactile sensing abilities have limited modes of tactile perception, restricting their dexterity and safety. In addition, existing tactile systems are often complicated, leading to unstable perception signals. Inspired by various organisms, a novel multimodal tactile‐sensing soft robotic fing

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Yin, Xuanchun, Pengyu Zhou, Junliang Xie, et al. "A Human Finger-Inspired Shape-Locking Pneumatic Gripper Enabled by Folding Laminar Jamming Structure." IEEE/ASME Transactions on Mechatronics, 2024, 1–12. http://dx.doi.org/10.1109/tmech.2024.3352643.

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Cheng, Peilin, Yebo Lu, Chuanyu Wu, and Bo Yan. "Reconfigurable bionic soft pneumatic gripper for fruit handling based on shape and size adaptation." Journal of Physics D: Applied Physics, December 2, 2022. http://dx.doi.org/10.1088/1361-6463/aca811.

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Abstract A universal soft gripper for fruit grasping is challenging to develop. In this study, a modular and reconfigurable soft pneumatic gripper was designed. The designed gripper was inspired by the dexterous grasping of the human hand for fruits of different shapes and sizes. It comprised three soft extension actuators (SEAs), two soft rotation actuators (SRAs), and three soft bending actuators (SBAs). By adjusting SRAs, two grasping poses (claw and clenching pose) could be made to hold fruits of different shapes. The grasping size under each pose could be continuously adjusted by SEAs to

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Fang, Zhonggui, Shaowu Tang, Yinyin Su, et al. "3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium." Advanced Science, November 26, 2024. http://dx.doi.org/10.1002/advs.202409060.

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AbstractThe human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabilities utilizing the inherent compliance, the simultaneous‐sensing approaches typically involve adding sensing components or embedding certain‐signal‐field substrates, resulting in structural complexity and discrepant deformations between the actuation parts with high‐dimensional motions and the sensi

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Pang, Chohei, Qicheng Wang, Kinwing Mak, Hongyu Yu, and Michael Yu Wang. "Viko 2.0: A Hierarchical Gecko-Inspired Adhesive Gripper With Visuotactile Sensor." IEEE Robotics and Automation Letters, 2022, 1–8. http://dx.doi.org/10.1109/lra.2022.3183249.

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Guo, Xiaohui, Deli Kong, Zihan Lin, et al. "Pneumatic soft bionic actuators inspired by elephant trunk for multidisciplinary robotics applications." Physica Scripta, June 2, 2025. https://doi.org/10.1088/1402-4896/addfb7.

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Abstract Soft robots in technology makes rapid development in the field of robotics, so that robots are widely used in all aspects of life. This paper proposed a bionic elephant trunk structure of pneumatic actuator (SPA). To solve the insufficient tip force and bending angle of SPA, mathematical model and Finite Element Analysis (FEA) are used to determine the optimal parameters of the SPA. Based on optimized SPAs, robots for multidisciplinary applications are developed. These applications include soft gripper with high gripping force of up to 480 N, a quadruped soft robot capable of adapting

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Zhang, Hui, Yanming Wu, Eric Demeester, and Karel Kellens. "BIG-Net: Deep Learning for Grasping with a Bio-Inspired Soft Gripper." IEEE Robotics and Automation Letters, 2022, 1–8. http://dx.doi.org/10.1109/lra.2022.3229237.

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Koo, Hye Been, Eunseok Heo, In Cho, Sun Hong Kim, Jiheong Kang, and Jae-Byum Chang. "Human hand-inspired all-hydrogel gripper with high load capacity formed by the split-brushing adhesion of diverse hydrogels." Materials Horizons, 2023. http://dx.doi.org/10.1039/d2mh01309f.

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Yang, Yang, Yonghua Chen, Ying Wei, and Yingtian Li. "Novel Design and Three-Dimensional Printing of Variable Stiffness Robotic Grippers." Journal of Mechanisms and Robotics 8, no. 6 (2016). http://dx.doi.org/10.1115/1.4033728.

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In this paper, a novel robotic gripper design with variable stiffness is proposed and fabricated using a modified additive manufacturing (hereafter called 3D printing) process. The gripper is composed of two identical robotic fingers and each finger has three rotational degrees-of-freedom as inspired by human fingers. The finger design is composed of two materials: acrylonitrile butadiene styrene (ABS) for the bone segments and shape-memory polymer (SMP) for the finger joints. When the SMP joints are exposed to thermal energy and heated to above their glass transition temperature (Tg), the fin

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Xie, Zhexin, Feiyang Yuan, Jiaqi Liu, et al. "Octopus-inspired sensorized soft arm for environmental interaction." Science Robotics 8, no. 84 (2023). http://dx.doi.org/10.1126/scirobotics.adh7852.

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Octopuses can whip their soft arms with a characteristic “bend propagation” motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but effic

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Phodapol, Sujet, Atthanat Harnkhamen, Naris Asawalertsak, Stanislav N. Gorb, and Poramate Manoonpong. "Insect Tarsus-Inspired Compliant Robotic Gripper with Soft Adhesive Pads for Versatile and Stable Object Grasping." IEEE Robotics and Automation Letters, 2023, 1–8. http://dx.doi.org/10.1109/lra.2023.3251186.

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Yu, Dehai, Zhonghao Wang, Guidong Chi, et al. "Hydraulic-driven adaptable morphing active-cooling elastomer with bioinspired bicontinuous phases." Nature Communications 15, no. 1 (2024). http://dx.doi.org/10.1038/s41467-024-45562-y.

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AbstractThe active-cooling elastomer concept, originating from vascular thermoregulation for soft biological tissue, is expected to develop an effective heat dissipation method for human skin, flexible electronics, and soft robots due to the desired interface mechanical compliance. However, its low thermal conduction and poor adaptation limit its cooling effects. Inspired by the bone structure, this work reports a simple yet versatile method of fabricating arbitrary-geometry liquid metal skeleton-based elastomer with bicontinuous Gyroid-shaped phases, exhibiting high thermal conductivity (up t

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Saxena, Akshay, and Karali Patra. "Fabrication and characterization of human finger ridge‐inspired soft elastomeric pressure sensor with liquid metal‐embedded microchannels." Polymer International, July 12, 2024. http://dx.doi.org/10.1002/pi.6676.

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AbstractSoft sensors are flexible and stretchable, and because of this, they can be used on a wide range of surfaces, regardless of their size or shape. Such sensors may have applications such as in human–robot interaction, healthcare, soft robotics and human motion detection, where they can sense their surroundings and provide information. In this work, a soft piezoresistive sensor inspired by human finger ridges has been fabricated with liquid metal (EGaIn) electrode‐filled embedded microchannels on elastomeric material (Ecoflex 0030) and characterized for a pressure range of 0 to 280 kPa at

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Im, Seong‐Min, Byeong‐Sun Park, Jaehwan Jang, et al. "Simultaneous In‐Hand Shape and Temperature Recognition Using Flexible Multilayered Sensor Arrays for Sense‐Based Robot Manipulation." Advanced Sensor Research, May 12, 2025. https://doi.org/10.1002/adsr.70004.

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AbstractArtificial tactile systems play a pivotal role in advancing human‐machine interaction technology by enabling precise physical interaction with objects and environments. Tactile information, such as pressure and temperature, allows robots to manipulate objects accurately and interact safely with humans. To facilitate this, a robotic skin integrating flexible pressure and temperature sensor arrays has been developed. The capacitive pressure sensor, inspired by human skin and utilizing a micro‐dome structure, demonstrates fast, stable, and sensitive performance under applied pressure. Als

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Yang, Wu-Te, and Masayoshi Tomizuka. "Design a Multifunctional Soft Tactile Sensor Enhanced by Machine Learning Approaches." Journal of Dynamic Systems, Measurement, and Control, May 25, 2022. http://dx.doi.org/10.1115/1.4054646.

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Abstract Tactile sensors are essential to robot hands that deal with various objects and interact with the environments. Soft tactile sensors are especially important to capture tactile information of delicate, irregular-shaped, or unknown objects. This paper introduces a soft tactile sensor that can simultaneously estimate the contact force, contact feature, and contact point. Inspired by multifunctional human skin, the proposed design has a dual-layer structure and is multifunctional. The top layer consists of a group of sensing elements that detect the contact location and contact feature e

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Rupp, Nicole, Rebecca Wienbruch, Julia Esther Gröber, et al. "A mobile robot bridging manual and automated bioscientific workflows by applying the Swiss army knife principle." Scientific Reports 15, no. 1 (2025). https://doi.org/10.1038/s41598-025-05404-3.

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Abstract The complexity and diversity of bioscientific research laboratories, creates significant challenges for automation. Their varying workflows, personnel, and instruments, often hinder smaller research laboratories to benefit from automated processes, as existing systems seem unsuitable due to low flexibility. Therefore, we developed a versatile robotic system designed to automate a broad range of bioscience laboratory processes. Central to our system and novel, compared to all other kinds of laboratory automation concepts, is a multifunctional end effector, inspired by the Swiss-army-kn

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Liu, Yuqi, Junqiang Su, Xinyu Li, and Guoqing Jin. "A systematic automated grasping approach for automatic manipulation of fabric with soft robot grippers." Industrial Robot: the international journal of robotics research and application, February 6, 2023. http://dx.doi.org/10.1108/ir-07-2022-0173.

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Purpose The garment industry will be one of the major beneficiaries of advances in smart manufacturing, as it is highly labor-intensive and heavily depends on labor force. Manipulating robots in human environments has made great strides in recent years. However, the main research has focused on rigid, solid objects and core capabilities such as grasping, placing remain a challenging problem when dealing with soft textiles. The experimental results indicate that adopting the proposed bionic soft finger will provide garment manufacturers with smart manufacturing capabilities. Then, the purpose o

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Hernandez Barraza, Luis Carlos, Ahmed Khalil Khan, and Chen-Hua Yeow. "A bioinspired modular soft robotic arm." Engineering Research Express, January 25, 2023. http://dx.doi.org/10.1088/2631-8695/acb5f0.

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Abstract A human arm is a vital instrument for performing various tasks. To imitate natural design, we developed and characterized a bioinspired modular soft robotic arm fabricated from fabric thermoplastic polyurethane (TPU). The soft robotic arm comprises three link sections, three joints, and an end-effector. Although some soft robotic arms have been designed, they are primarily fabricated with continuous shapes. Therefore, we fabricated a modular and customizable soft robotic arm with different requirements, allowing fast fabrication, prototyping, and assembly, and comprising joint and lin

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Matharu, Pawandeep Singh, Abhishek Pratap Singh, Yuyang Song, Umesh Gandhi, and Yonas Tadesse. "Single layered soft skin actuated with twisted and mandrel coiled actuators for soft robotics." Journal of Polymer Science, February 20, 2024. http://dx.doi.org/10.1002/pol.20230691.

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AbstractSoft silicone‐based artificial skin is essential in soft robotics because of high elongation, safe human interaction, low energy requirements and ease of manufacturing. Inspired by nature, several attempts have been made to fabricate morphing structures using synthetic soft skin. In this study, a novel elastomeric skin is demonstrated featuring embedded actuators and micro‐fluidic channels, that is capable of grasping objects. The actuators are twisted, and mandrel coiled nylon artificial muscles, with nichrome heaters that overcome key challenges in developing synthetic soft skin. The

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Li, Xiaosong, Pengpeng Bai, Xinxin Li, et al. "Robust scalable reversible strong adhesion by gecko-inspired composite design." Friction, August 12, 2021. http://dx.doi.org/10.1007/s40544-021-0522-4.

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AbstractBio-inspired reversible adhesion has significant potential in many fields requiring flexible grasping and manipulation, such as precision manufacturing, flexible electronics, and intelligent robotics. Despite extensive efforts for adhesive synthesis with a high adhesion strength at the interface, an effective strategy to actively tune the adhesion capacity between a strong attachment and an easy detachment spanning a wide range of scales has been lagged. Herein, we report a novel soft-hard-soft sandwiched composite design to achieve a stable, repeatable, and reversible strong adhesion

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Hao, Yufei, and Yon Visell. "Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers." Frontiers in Robotics and AI 8 (July 7, 2021). http://dx.doi.org/10.3389/frobt.2021.632006.

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Grasping and manipulation are challenging tasks that are nonetheless critical for many robotic systems and applications. A century ago, robots were conceived as humanoid automata. While conceptual at the time, this viewpoint remains influential today. Many robotic grippers have been inspired by the dexterity and functionality of the prehensile human hand. However, multi-fingered grippers that emulate the hand often integrate many kinematic degrees-of-freedom, and thus complex mechanisms, which must be controlled in order to grasp and manipulate objects. Soft fingers can facilitate grasping thr

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