Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been restricted in highly dynamic grasping tasks. This paper presents a soft robotic gripper with tunable bistable properties for sensor-less dynamic grasping. The bistable mechanism allows us to store arbitrarily large strain energy in the soft system which is then released upon contact. The mechanism also provides flexibility on the type of actuation mechanism as the grasping and sensing phase is completely passive. Theoretical background behind the mechanism is presented with finite element analysis to provide insights into design parameters. Finally, we experimentally demonstrate sensor-less dynamic grasping of an unknown object within 0.02 seconds, including the time to sense and actuate.
Everything-Grasping (EG) Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation
Department of Mechanical Engineering, University of California, Berkeley（加州大学伯克利分校机械工程系）；Department of Biomedical Engineering, The Chinese University of Hong Kong（香港中文大学生物医学工程系）；Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）；Multi-scale Medical Robotics Center, Hong Kong, China（香港医学机器人多尺度中心）；Department of Agricultural and Biological Engineering, Purdue University（普渡大学农业与生物工程系）
A Vision-Based Collision Sensing Method for Stable Circular Object Grasping with A Soft Gripper System
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学）；Department of Civil and Environmental Engineering, The Hong Kong University of Science and Technology（土木与环境工程系，香港科学与技术大学）
Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping
Advanced Robotics Centre, National University of Singapore（新加坡国立大学先进机器人中心）；Department of Electrical and Computer Engineering, National University of Singapore（新加坡国立大学电子与计算机工程系）
Hybrid Robotic Meta-gripper for Tomato Harvesting: Analysis of Auxetic Structures with Lattice Orientation Variations
Tohoku University, Japan（东京东京大学）；Delft University of Technology (TU Delft), the Netherlands（代尔夫特理工大学）；Indian Institute of Technology Kanpur (IIT Kanpur), India（印度理工学院坎浦尔分校）
Adaptive and Multi-object Grasping via Deformable Origami Modules
Singapore MIT Alliance for Research and Technology (SMART) centre（新加坡-麻省理工联合研究与技术中心）；Department of Mechanical Engineering, National University of Singapore（国立新加坡大学机械工程系）
Hybrid Soft Electrostatic Metamaterial Gripper for Multi-surface, Multi-object Adaptation
Empa - Swiss Federal Laboratories for Materials Science and Technology（瑞士联邦材料科学与技术实验室（Empa））；École Polytechnique Fédérale de Lausanne（洛桑联邦理工学院）；Imperial College London（帝国理工学院）；Commonwealth Scientific and Industrial Research Organisation (CSIRO)（英联邦科学与工业研究组织（CSIRO））
Robotics and Biology Laboratory, Technische Universität Berlin（技术大学柏林机器人与生物学实验室）；Science of Intelligence, Research Cluster of Excellence, Berlin（柏林智能科学卓越研究中心）；Robotics Institute Germany（德国机器人研究所）
Visual Pressure Estimation and Control for Soft Robotic Grippers
Georgia Institute of Technology（佐治亚理工学院）；Intel Labs（英特尔研究院）；Meta Reality Labs（Meta现实实验室）；Hello Robot Inc.（Hello Robot公司）
柔软的机器人抓手有助于实现接触式操作，包括对各种物体的牢固抓取。然而，软夹持器的有利顺应性也导致显著变形，这可能使精确操作具有挑战性。我们提出了视觉压力估计和控制（VPEC），一种方法，推断软抓手使用RGB图像从外部摄像头施加的压力。我们提供的视觉压力推断的结果时，气动夹持器和肌腱致动的夹持器与平面接触。我们还表明，VPEC可以通过推断的压力图像的闭环控制进行精确操作。在我们的评估中，移动机械手（来自Hello Robot的Stretch RE 1）使用视觉伺服在所需的压力下进行接触;遵循空间压力轨迹;并抓住小的低轮廓物体，包括microSD卡，硬币和药丸。总的来说，我们的研究结果表明，视觉估计施加的压力可以使软夹持器进行精确的操作。
Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment
Dalian University of Technology（大连理工大学）；Wuhan University（武汉大学）；Shenyang University of Technology（沈阳理工大学）；National University of Defense Technology（国防科技大学）
Hybrid Gripper with Passive Pneumatic Soft Joints for Grasping Deformable Thin Objects
School of Mechanical Engineering, Hanoi University of Science and Technology（河内科技大学机械工程学院）；Department of Computer Science, University of Liverpool（利物浦大学计算机科学系）；Graduate School of Information Science and Technology, The University of Tokyo（东京大学信息科学与技术研究生院）
Introducing Environmental Constraints to Grasping Strategies for Paper-Like Flexible Materials Using a Soft Gripper
College of Mechanical and Electrical Engineering, Nanjing University（南京大学机械与电子工程学院）；Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing University of Aeronautics and Astronautics（江苏生物材料与设备重点实验室，南京航空航天大学）
