A Multimodal Soft Gripper with Variable Stiffness and Variable Gripping Range Based on MASH Actuator

TL;DR

This paper presents a novel multimodal soft gripper utilizing a MASH actuator that offers variable stiffness, adjustable gripping range, and multifunctionality, enabling adaptation to diverse tasks and objects.

Contribution

The work introduces a soft gripper with variable stiffness and gripping range based on MASH actuators, overcoming limitations of traditional strain-limiting layer designs.

Findings

Gripping range can be expanded up to three times.

Enhanced stiffness ensures secure handling of heavy objects.

Supports multitasking gripping strategies.

Abstract

Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft grippers possess a singular gripping functionality, rendering them incapable of adapting to diverse gripping tasks with different strategies. Based on our previous work, we introduce a novel soft gripper that offers variable stiffness, an adjustable gripping range, and multifunctionality. The MASH actuator based soft gripper can expand its gripping range up to threefold compared to the original configuration and ensures secure grip by enhancing stiffness when handling heavy objects. Moreover, it supports multitasking gripping through specific gripping strategy control.