The top-down approach in designing and fabricating origami robots could achieve far more complicated functions with compliant and elegant designs than traditional robots. This study presents the design, fabrication, and testing of a reticular origami soft robotic gripper that could adapt to the shape of the grasping subject and grasp the subject within 80 ms from the trigger instance. A sensing mechanism consisting of the resistive pressure sensor array and flexible elongation sensor is designed to validate further the shape-adaptive grasping capability and model the rough shape and size of the subject. The grasping test on various objects with different shapes, surface textures, sizes, and living animals further validates the excellent grasping capabilities of the gripper. The gripper could be either actively triggered by actuation or passively triggered by a minimum of 0.0014 J disturbance energy. Such features make it particularly suitable for applications such as capturing underwater creatures and illegal drone control.

中文翻译：

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用于形状自适应和双稳态快速抓取的网状折纸软机器人夹具。


与传统机器人相比，自上而下的设计和制造折纸机器人的方法可以通过兼容且优雅的设计实现更复杂的功能。本研究介绍了一种网状折纸软机器人夹具的设计、制造和测试，该夹具可以适应抓取对象的形状，并在触发实例后 80 毫秒内抓取对象。设计了由电阻式压力传感器阵列和柔性伸长传感器组成的传感机构，以进一步验证形状自适应抓取能力并模拟对象的大致形状和尺寸。对不同形状、表面纹理、大小的各种物体以及活体动物的抓取测试进一步验证了抓手出色的抓取能力。夹具可以通过驱动主动触发，也可以通过最小 0.0014 J 的干扰能量被动触发。这些功能使其特别适合捕获水下生物和非法无人机控制等应用。