Softgripper

A soft gripper is a robotic end effector designed to grasp objects using compliant, deformable materials. Unlike rigid grippers, soft grippers rely on elastomeric polymers such as silicone, polyurethane, or rubber to envelop and hold objects, distributing contact forces over a large area to minimize damage.

Most soft grippers operate with fluid-based actuation. Pneumatic networks or chambers inflate to produce bending, wrapping, or squeezing motions, while hydraulic versions use liquid pressure for higher force. Other actuation approaches include tendon-driven systems, electroactive polymers, and shape memory materials. The resulting grippers can be fully soft or hybrid, combining soft bodies with rigid components to improve stiffness and control where needed.

Designs commonly feature networks of interconnected chambers or a single flexible body that can wrap around irregular shapes. Materials such as polydimethylsiloxane (PDMS), EcoFlex, and other silicone-based elastomers are frequently used for their elasticity and tunable stiffness. Fabrication methods range from soft lithography to 3D printing and molding.

Advantages of soft grippers include safe manipulation of delicate items, adaptability to irregular geometries, and inherent compliance that reduces damage during grasping. They are well suited for handling fruits and vegetables, soft fruits, and other fragile objects, as well as for tasks in soft robotics research.

Limitations include relatively low gripping force compared with rigid grippers, slower actuation due to fluid dynamics, control complexity, potential durability issues, and sensitivity to environmental conditions. Ongoing work addresses force enhancement, speed, sensing, and integration with perception systems.