Soft Grippers

Soft grippers, robotic end-effectors designed for gentle and adaptable grasping, are a rapidly advancing field aiming to improve manipulation capabilities for diverse applications. Current research emphasizes integrating advanced sensing (e.g., optical tactile sensing, visual force/torque estimation) and control strategies (e.g., model predictive control, Koopman operator theory) to enhance grasping precision, robustness, and energy efficiency. This work is driven by the need for safer and more dexterous robotic interaction with fragile objects in various settings, from industrial automation to healthcare and assistive robotics, with a growing focus on bio-inspired designs and modular architectures. The development of novel materials, such as switchable adhesives and 3D-printed fabrics, is also significantly contributing to improved performance and versatility.