A Dual-Modal Hybrid Gripper with Wide Tunable Contact Stiffness Range and High Compliance for Adaptive and Wide-Range Grasping Objects with Diverse Fragilities.

The difficulties of traditional rigid/soft grippers in meeting the increasing performance expectations (e.g., high grasping adaptability and wide graspable objects range) of a single robotic gripper have given birth to numerous soft-rigid coupling grippers with promising performance. However, it is still hard for these hybrid grippers to adaptively grasp various objects with diverse fragilities intact, such as incense ash and orange, due to their limited contact stiffness adjustable range and compliance. To solve these challenging issues, herein, we propose a dual-modal hybrid gripper, whose fingers contain a detachable elastomer-coated flexible sheet that is restrained by a moving frame as a teardrop shape. The gripper's two modes switched by controlling the moving frame position can selectively highlight the low contact stiffness and excellent compliance of the teardrop-shaped flexible sheets and the high contact stiffness of the moving frames. Moreover, the contact stiffness of the teardrop-shaped sheets can be wide-range adjusted by online controlling the moving frame position and offline replacing the sheets with different thicknesses. The compliance of the teardrop-shaped sheets also proves to be excellent compared with an Ecoflex 10 fingertip with the same profile. Such a gripper with wide-range tunable contact stiffness and high compliance demonstrates excellent grasping adaptability (e.g., it can safely grasp several fragile strawberries with a maximum size difference of 18 mm, a strawberry with a left/right offset of 3 cm, and a strawberry in two different lying poses) and wide-range graspable objects (from 0.1 g super fragile cigarette ashes to 5.1 kg dumbbell).