Angle-programmed tendril-like trajectories enable a multifunctional gripper with ultra-delicacy, ultrastrength, and ultraprecision

Creating a single soft gripper capable of handling ultrasoft, ultrathin, and ultraheavy objects is challenging due to the tradeoff between compliance, strength, and precision. This study introduces an ultragentle, ultrastrong, and ultraprecise gripper using angle-programmed tendril-like grasping trajectories. The gripper delicately grasps fragile liquids (0.05 kPa contact pressure), lifts objects 16,000 times its weight, and precisely grasps ultrathin objects (4-µm sheets, 2-µm fibers). Its scalable design allows for biodegradable grippers, and its controlled trajectories enable integration with robotic arms and prostheses for tasks like picking grapes, opening zippers, and turning pages. This work demonstrates soft grippers' potential in various applications.

Yaoye Hong, Yao Zhao, Joseph Berman, Yinding Chi, Yanbin Li, He Huang, Jie Yin