A Bioinspired Stress-Response Strategy for High-Speed Soft Grippers

Abstract

The stress-response strategy is one of the nature's greatest developments, enabling animals and plants to respond quickly to environmental stimuli. One example is the stress-response strategy of the Venus flytrap, which enables such a delicate plant to perceive and prey on insects at an imperceptible speed by their soft terminal lobes. Here, inspired by this unique stress-response strategy, a soft gripper that aims at the challenges of high-speed dynamic grasping tasks is presented. The gripper, called high-speed soft gripper (HSG), is based on two basic design concepts. One is a snap-through instability that enables the HSG to sense the mechanical stimuli and actuating instantly. The other one is the spider-inspired pneumatic-powered control system that makes the trigger process repeatable and controllable. Utilizing the stress-response strategy, the HSG can accomplish high-speed sensing and grasping and handle a dynamic grasping task like catching a thrown baseball. Whereas soft machines typically exhibit slow locomotion speed and low manipulation strength for the intrinsic limitations of soft materials, the exploration of the stress-response strategy in this study can help pave the way for designing a new generation of practical high-speed soft robots.