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Angle-programmed tendril-like trajectories enable a multifunctional gripper with ultradelicacy, ultrastrength, and ultraprecision

Author

Listed:
  • Yaoye Hong

    (North Carolina State University)

  • Yao Zhao

    (North Carolina State University)

  • Joseph Berman

    (North Carolina State University)

  • Yinding Chi

    (North Carolina State University)

  • Yanbin Li

    (North Carolina State University)

  • He (Helen) Huang

    (North Carolina State University
    University of North Carolina at Chapel Hill)

  • Jie Yin

    (North Carolina State University)

Abstract

Achieving multicapability in a single soft gripper for handling ultrasoft, ultrathin, and ultraheavy objects is challenging due to the tradeoff between compliance, strength, and precision. Here, combining experiments, theory, and simulation, we report utilizing angle-programmed tendril-like grasping trajectories for an ultragentle yet ultrastrong and ultraprecise gripper. The single gripper can delicately grasp fragile liquids with minimal contact pressure (0.05 kPa), lift objects 16,000 times its own weight, and precisely grasp ultrathin, flexible objects like 4-μm-thick sheets and 2-μm-diameter microfibers on flat surfaces, all with a high success rate. Its scalable and material-independent design allows for biodegradable noninvasive grippers made from natural leaves. Explicitly controlled trajectories facilitate its integration with robotic arms and prostheses for challenging tasks, including picking grapes, opening zippers, folding clothes, and turning pages. This work showcases soft grippers excelling in extreme scenarios with potential applications in agriculture, food processing, prosthesis, biomedicine, minimally invasive surgeries, and deep-sea exploration.

Suggested Citation

  • Yaoye Hong & Yao Zhao & Joseph Berman & Yinding Chi & Yanbin Li & He (Helen) Huang & Jie Yin, 2023. "Angle-programmed tendril-like trajectories enable a multifunctional gripper with ultradelicacy, ultrastrength, and ultraprecision," Nature Communications, Nature, vol. 14(1), pages 1-10, December.
    • Handle: RePEc:nat:natcom:v:14:y:2023:i:1:d:10.1038_s41467-023-39741-6
    DOI: 10.1038/s41467-023-39741-6
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    References listed on IDEAS

    as
    1. Yue Dong & Jie Wang & Xukui Guo & Shanshan Yang & Mehmet Ozgun Ozen & Peng Chen & Xin Liu & Wei Du & Fei Xiao & Utkan Demirci & Bi-Feng Liu, 2019. "Multi-stimuli-responsive programmable biomimetic actuator," Nature Communications, Nature, vol. 10(1), pages 1-10, December.
    2. Yaoye Hong & Yinding Chi & Shuang Wu & Yanbin Li & Yong Zhu & Jie Yin, 2022. "Boundary curvature guided programmable shape-morphing kirigami sheets," Nature Communications, Nature, vol. 13(1), pages 1-13, December.
    3. Indrek Must & Edoardo Sinibaldi & Barbara Mazzolai, 2019. "A variable-stiffness tendril-like soft robot based on reversible osmotic actuation," Nature Communications, Nature, vol. 10(1), pages 1-8, December.
    Full references (including those not matched with items on IDEAS)

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