grippery

Grippery is a term used to describe the field and practice of designing, evaluating, and controlling grippers—devices that secure and manipulate objects by applying force. It covers a range of end-effectors, including rigid grippers such as parallel-jaw and three-finger designs, as well as soft and compliant grippers, suction-based systems, magnetic grips, and biomimetic concepts. Grippery focuses on how a grip is achieved reliably across diverse objects and tasks.

Key concerns include reach and accessibility to the object, contact mechanics and pressure distribution, grip force and stability, slip resistance, and adaptability to shape, texture, and fragility. Sensing and perception are integral, with tactile and force sensors, proprioception, and vision-based grasp planning informing control. Control strategies range from fixed-force and impedance control to learning-based grasp planning and closed-loop feedback that adjusts grip in real time.

Applications span manufacturing, logistics, and automation in which automated pick-and-place is required; service robots handling household objects; and prosthetic or medical devices that require secure, gentle manipulation. Metrics commonly used in grippery include maximum grip force, slip rate, contact safety margins, and success rate of grasps under variation in object pose and handling conditions.

Grippery emerged as a multidisciplinary concept within robotics and automation; the term is largely informal and used as a catch-all for end-effector design and manipulation research rather than a formally defined academic discipline.