Tube-feet Inspired Soft Gripper

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Abstract

Soft gripper can grasp various types of objects even deformable objects or complex shapes. In this work, the design of a soft gripper is inspired by a tube foot of a starfish. Tube foot can deform in multiple directions. The proposed gripper has three soft silicone fingers which are driven by pneumatic actuation. Each finger can be curved in 6 directions using a three sided air chamber. This gripper can be controlled by a binary command into four states: home, open, close and twist. The tube feet inspired soft gripper was developed, modelled and tested.

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Jittungboonya, P., & Maneewan, T. (2019). Tube-feet Inspired Soft Gripper. In IOP Conference Series: Materials Science and Engineering (Vol. 501). Institute of Physics Publishing. https://doi.org/10.1088/1757-899X/501/1/012048

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