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TSCs to grasp various objects with different weights, shapes, sizes, textures, and stiffnesses using an experimentally tuned proportional-integral-derivative (PID) controller with the same gains for all the objects grasped. In other words, the gripper can self-adapt to different environments with different stiffnesses and provide stable contact and grasping. These results are validated theoretically by modeling the soft gripper in contact with the objects with varying stiffness to show that the stability of the contact motion is not affected by the stiffness of the environment (i.e., the grasped object) when constant PID control gains are used.
Tawk et al. (Wed,) studied this question.
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