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<p>Soft grippers composed of soft pneumatic actuators (SPAs) exhibit excellent adaptability in unstructured environments, but they also possess inherent limitations such as low structural stability due to ultra-soft materials, inadequate output force, and restricted 3D spatial adaptability. In this study, a soft robotic claw inspired by the parrot feet’s zygodactyl structure is developed, featuring Pneu-net actuators with oblique air chambers for bending and twisting movements. A thin steel sheet as the strain limiting layer improves static stability and output force by approximately 57%. Comparative gripping tests on diverse everyday items, indicate that soft claw with vertical chambers handle centrosymmetric objects well, while whose with oblique chambers are good at for large—diameter objects, suitable for mobile robots. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8&#xa0;mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability.</p>

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Steel-reinforced Pneu-net based bioinspired soft claw: design, fabrication, and application

  • 期刊论文

  • 发表日期：

    2025年11月29日

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  • Kaige Chen,
  • Tianze Hao,
  • Yue Ma,
  • Songtao Liu,
  • Jutao Wang

摘要

Soft grippers composed of soft pneumatic actuators (SPAs) exhibit excellent adaptability in unstructured environments, but they also possess inherent limitations such as low structural stability due to ultra-soft materials, inadequate output force, and restricted 3D spatial adaptability. In this study, a soft robotic claw inspired by the parrot feet’s zygodactyl structure is developed, featuring Pneu-net actuators with oblique air chambers for bending and twisting movements. A thin steel sheet as the strain limiting layer improves static stability and output force by approximately 57%. Comparative gripping tests on diverse everyday items, indicate that soft claw with vertical chambers handle centrosymmetric objects well, while whose with oblique chambers are good at for large—diameter objects, suitable for mobile robots. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8 mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability.