This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e., fingers). The positions of the fingers are regulated by adjusting the negative pressure in the middle bellow actuator via an on-off controller. The stiffness of the soft gripper is modulated by controlling the positive pressure in the fingers through the use of a proportional air-pressure regulator. It is experimentally shown that the proposed soft gripper can modulate its stiffness by 125% within 250ms. It is also shown that the variable stiffness soft gripper can help improve the safety and performance of grasping tasks in industrial applications.
Literary Emotions in Motion: A Soft Robotics Installation for Tactile Storytelling
Department of Mechanical Engineering, University of Chile（智利大学机械工程系）；Independent Researcher（独立研究员）；Bolivian Catholic University（玻利维亚天主大学）；Institute of Engineering Sciences, University of O’Higgins（奥希金斯大学工程科学研究所）
A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability
Department of Agricultural and Biological Engineering, Mississippi State University（农业与生物工程系，密苏里州立大学）；Department of Electrical and Computer Engineering, Michigan State University（电气与计算机工程系，密苏里州立大学）；Texas A&M AgriLife Research and Extension Center in Dallas, Texas A&M University（德克萨斯A&M大学达拉斯分校农业与生命科学研究中心）
At First Contact: Stiffness Estimation Using Vibrational Information for Prosthetic Grasp Modulation
Department of Biomedical Engineering, Johns Hopkins University（生物医学工程系，约翰·霍普金斯大学）；Department of Electrical and Computer Engineering, Johns Hopkins University（电气与计算机工程系，约翰·霍普金斯大学）
Energy-efficient tunable-stiffness soft robots using second moment of area actuation
Southampton Marine and Maritime Institute, University of Southampton（南安普顿大学南安普顿海洋与海事研究所）；Alan Turing Institute（艾伦·图灵研究所）；Institute of Industrial Science, The University of Tokyo（东京大学生产技术研究所）
VSL-Skin: Individually Addressable Phase-Change Voxel Skin for Variable-Stiffness and Virtual Joints Bridging Soft and Rigid Robots
School of Mechanical Engineering, Purdue University（机械工程学院，普渡大学）；Department of Agricultural and Biological Engineering, Purdue University（农业与生物工程系，普渡大学）；School of Aeronautics and Astronautics, Purdue University（航空与航天学院，普渡大学）
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）
A Novel Robotic Variable Stiffness Mechanism Based on Helically Wound Structured Electrostatic Layer Jamming
ShanghaiTech University（上海科技大学）；School of Information Science and Technology（信息科学与技术学院）；ShanghaiTech Automation and Robotics (STAR) Center（上海科技大学自动化与机器人中心）
Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators
Innopolis University（因诺波利斯大学）；Centre National de la Recherche Scientifique (CNRS)（法国国家科学研究中心）；Le Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）；IMT Atlantique（大西洋国立高等工业技术与矿业学校）
Non-linear stiffness behavior of planar serial robotic manipulators
Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）；Innopolis University（因诺波利斯大学）；IMT Atlantique Nantes（大西洋矿业电信学院南特校区）；Centre National de la Recherche Scientifique (CNRS)（法国国家科学研究中心）
Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits
School of Engineering and Materials Science, Queen Mary University of London（伦敦女王学院工程与材料科学学院）；Department of Robotics, Ritsumeikan University（立命馆大学机器人学系）
Safety-aware Goal-oriented Semantic Sensing, Communication, and Control for Robotics
Department of Engineering, King’s College London（工程系，伦敦国王学院）；Department of Intelligent Systems, KTH Royal Institute of Technology（智能系统系，皇家理工学院）；Department of Automation Technology, ABB Corporate Research Sweden（自动化技术系，ABB瑞典公司）；Institute for Digital Communications, FriedrichAlexander-Universität Erlangen-Nürnberg（数字通信研究所，埃尔兰根-纽伦堡弗里德里希-亚历山大大学）
Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
Department of Management and Engineering (DTG), University of Padua（管理与工程系（DTG），帕多瓦大学）；Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti, Università degli Studi di Genova（机械工程、能源、管理和运输系，热那亚大学）；University of Padua（帕多瓦大学）；Università degli Studi di Genova（热那亚大学）
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems
Department of Mechanical and Process Engineering, ETH Zurich（瑞士苏黎世联邦理工学院机械与过程工程系）；Clearpath Robotics（Clearpath机器人公司）；Electronic Frontier Foundation（电子前沿基金会）
Robust Adaptive Safe Robotic Grasping with Tactile Sensing
Maersk Mc-Kinney Moller Institute, University of Southern Denmark（马士基麦金尼默勒研究所，丹麦南方大学）；Departments of Mechanical and Civil Engineering and Computing and Mathematical Sciences , California Institute of Technology（机械与土木工程系和计算与数学科学系，加州理工学院）
Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing
ShanghaiTech University（上海科技大学）；School of Information Science and Technology（信息科学与技术学院）；ShanghaiTech Automation and Robotics (STAR) Center（上海科技大学自动化与机器人中心）；King’s College London（伦敦大学国王学院）
