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.

高效拾取多件物品是软体机器人（soft robotics）领域的一项新兴挑战。本研究针对可在单次抓取尝试中完成多件物品拾取的新型夹持器（gripper）展开研究。待抓取物品与预张紧于手指骨架上的多根弹性线材实现柔性接触，由此构建出一款兼具手指骨架结构稳定性与线材柔性交互特性的新型混合式爪手。本研究设计并搭建了这款布线式爪手夹持器（wiring-claw gripper），针对七类物品开展抓取实验评估，涉及工艺棒、胶水瓶、茶叶包装袋、糖果块、粉末包装袋、金字塔造型物体与球体。实验结果显示，在三种提升速度条件下，该夹持器单次抓取多件物品的成功率较高；同时，该布线式爪手夹持器可实现柔性交互，对各类物品具备极强的适配性。本研究成果有望实现单次抓取即可高效拾取各类物品，且无需搭载传感系统与复杂控制逻辑。