High Adaptability and Load Capacity Optimization of Bio-inspired Dexterous Soft Gripper

Soft gripper systems have inherent flexibility and remarkable interactivity security. However, balancing load-bearing capacity, deformation, complexity, and adaptability in a single gripper remains a substantial challenge. In this study, we therefore introduce a collaborative optimization strategy for the design, fabrication, and control of a pneumatically actuated, tapered soft gripper. This strategy integrates a design optimization method (based on parameter-response analysis for high adaptability) with a dual-layer control strategy designed for novel, dexterous multi-grasping modes, thereby delivering superior load capacity. Experimental results demonstrate that, without increased complexity, our gripper achieves a maximum bending angle of 260◦, a load capacity of 15 N, and exhibits excellent high-grasp compliance-accommodating objects up to 252% of the finger span size. It realizes a well-balanced combination of simplicity, deformation, strength, and controllability. Furthermore, this work provides a systematic framework covering the entire lifecycle of soft grippers, from simulation and design to fabrication and control, offering valuable insights for future soft gripper research.