Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers
Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers
This research introduces a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By exploiting plastic deformation in a kirigami-patterned metal layer, the design increases structural stiffness and resistance to dynamic disturbances. A theoretical model characterizes the deformation and stability, while a bioinspired paw pad provides top-side support and integrated sensing. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2. The system also achieves energy-free perching on tree branches.
The study proposes a hybrid metal-elastomer architecture utilizing plastic deformation to achieve passive stability in soft grippers, validated by experiments showing holding forces up to 16 N and stable grasping under pulsed accelerations of 400 m/s^2.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
passive holding forces
≤16
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ides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of
Open source S4pneumatic actuation pressure
0.3
View original evidence
ides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of
Open source S4pulsed accelerations
≤400
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up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.
Open source S5
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
ides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of
Open source S4
up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.
Open source S5
t. By deliberately exploiting plastic deformation in a kirigami-patterned metal layer, CSSPD establishes new equilibrium configurations while increasing structural stiffness and resistance to dynamic disturbances. A theoretical model is developed to characterize the deformation and stability of the hybrid structure and guide the geometric design of the metal layer. We further introduce a bioinspired paw pad that prov
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org