Soft Joints Grippers for Grasping Deformable Thin Objects

抄録

Grasping deformable objects, such as paper, remains a significant challenge in robotic manipulation due to variations in material properties and flexibility. Inspired by the ability of the human hand to grasp thin and lightweight objects with dexterity, we investigate the performance of our hybrid gripper in handling paper of varying thicknesses. Our gripper design integrates a soft pneumatic ring around a rigid revolute joint, mimicking the adaptive grasping behavior of human fingers. In this study, we conduct an experiment to analyze how the gripper interacts with different paper thicknesses, evaluating its stability, adaptability, and grasping efficiency. The results provide deeper insights into the effectiveness of hybrid soft-rigid grippers in handling thin, flexible materials and contribute to the development of more versatile robotic grasping solutions.