Mathlab code

Efficiently picking up multiple objects is an emergent challenge for soft robotics. Our work focused on a novel gripper in picking up multiple objects in one grasping trial. The objects contacted softly with multiple elastic wires pre-stretch on the finger skeletons. This integration created a novel hybrid claw that inherited both the stability of the finger skeleton and the soft interaction of the wire. This wiring-claw gripper was designed and set up for conducting experimental evaluations in grasping seven kinds of objects: craft sticks, glue bottles, tea packs, candy pieces, powder packs, pyramids, and spheres. The experimental outcomes presented that our gripper design achieved high success rates in gripping multiple objects per trial at three levels of the lifting velocity. Additionally, the wiring-claw gripper generated soft interaction and was highly adaptive with diverse objects. The outcomes of this study are expected to efficiently pick up various objects at each trial without requiring sensing systems and complicated controls.

高效地抓取多个物体已成为软体机器人领域的一项新兴挑战。本研究聚焦于一种新型抓取器，旨在在一次抓取尝试中抓取多个物体。物体通过与指骨上的多个预先拉伸的弹性线进行接触而实现柔软抓取。这种集成创造了一种新型的混合爪，继承了指骨的稳定性与线的柔软交互。该线爪式抓取器经过设计和配置，以进行抓取七种物体（工艺棒、胶水瓶、茶包、糖果、粉末包、金字塔和球体）的实验评估。实验结果表明，我们的抓取器设计在每次尝试中抓取多个物体时，在三个提升速度级别上均实现了高成功率。此外，线爪式抓取器实现了柔软的交互，并且对各种物体具有高度的适应性。本研究预期将能够在每次尝试中高效地抓取各种物体，而无需依赖传感系统及复杂的控制。