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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.03691 |
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| _version_ | 1866908999262142464 |
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| author | Qin, Zhihang Zhang, Yueheng Su, Wan Hou, Linxin Zhou, Shenghao Chen, Zhijun Tan, Yu Jun Laschi, Cecilia |
| author_facet | Qin, Zhihang Zhang, Yueheng Su, Wan Hou, Linxin Zhou, Shenghao Chen, Zhijun Tan, Yu Jun Laschi, Cecilia |
| contents | Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the top sensing chamber deforms upon contact, the displaced liquid triggers snap-through expansion of the grasping chambers, enabling stable and size-selective grasping without continuous energy input. The internal hydraulic feedback further allows passive adaptation of gripping pressure to object stiffness. This source-free and compact design opens new possibilities for lightweight, stiffness-adaptive fluid-driven manipulation in soft robotics, providing a feasible approach for targeted size-specific sampling and operation in underwater and field environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_03691 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping Qin, Zhihang Zhang, Yueheng Su, Wan Hou, Linxin Zhou, Shenghao Chen, Zhijun Tan, Yu Jun Laschi, Cecilia Robotics Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the top sensing chamber deforms upon contact, the displaced liquid triggers snap-through expansion of the grasping chambers, enabling stable and size-selective grasping without continuous energy input. The internal hydraulic feedback further allows passive adaptation of gripping pressure to object stiffness. This source-free and compact design opens new possibilities for lightweight, stiffness-adaptive fluid-driven manipulation in soft robotics, providing a feasible approach for targeted size-specific sampling and operation in underwater and field environments. |
| title | Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.03691 |