Soft robotic grippers excel at achieving conformal and reliable contact with objects without the need for complex control algorithms. However, they still lack in grasp and manipulation abilities compared with human hands. In this study, we present a sensorized multi-fingered soft gripper with bioinspired adhesive fingertips that can provide both fingertip-based adhesion grasping and finger-based form closure grasping modes. The gripper incorporates mushroom-like microstructures on its adhesive fingertips, enabling robust adhesion through uniform load shearing. A single fingertip exhibits a maximum load capacity of 4.18 N against a flat substrate. The soft fingers have multiple joints, and each joint can be independently actuated through pneumatic control. This enables diverse bending motions and stable grasping of various objects, with a maximum load capacity of 28.29 N for three fingers. In addition, the soft gripper is equipped with a kirigami-patterned stretchable sensor for motion monitoring and control. We demonstrate the effectiveness of our design by successfully grasping and manipulating a diverse range of objects with varying shapes, sizes, and curvatures. Moreover, we present the practical application of our sensorized soft gripper for remotely controlled cooking.

中文翻译：

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具有粘性指尖的传感软机器人手，用于多模式抓取和操作。


软机器人抓手擅长与物体实现保形且可靠的接触，无需复杂的控制算法。然而，与人手相比，它们仍然缺乏抓握和操纵能力。在这项研究中，我们提出了一种带有仿生粘合指尖的传感多指软夹具，可以提供基于指尖的粘合抓取和基于手指的形状闭合抓取模式。该夹具在其粘性指尖上采用蘑菇状微结构，通过均匀的负载剪切实现强大的粘附力。单个指尖对平坦基底的最大负载能力为 4.18 N。软手指有多个关节，每个关节都可以通过气动控制独立驱动。这样可以实现多样化的弯曲运动并稳定地抓取各种物体，三指最大负载能力为 28.29 N。此外，软夹具还配备了剪纸图案的可拉伸传感器，用于运动监测和控制。我们通过成功地抓取和操纵具有不同形状、大小和曲率的各种物体来展示我们设计的有效性。此外，我们还展示了传感软夹具在远程控制烹饪中的实际应用。