Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping Article Swipe

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Zhipeng Qin , Yueheng Zhang , Wan Su , Linrui Hou , Shenghao Zhou , Zhijun Chen , Yu Jun Tan , Cecilia Laschi ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2511.03691

Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the top sensing chamber deforms upon contact, the displaced liquid triggers snap-through expansion of the grasping chambers, enabling stable and size-selective grasping without continuous energy input. The internal hydraulic feedback further allows passive adaptation of gripping pressure to object stiffness. This source-free and compact design opens new possibilities for lightweight, stiffness-adaptive fluid-driven manipulation in soft robotics, providing a feasible approach for targeted size-specific sampling and operation in underwater and field environments.

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Type: preprint
Landing Page: http://arxiv.org/abs/2511.03691
PDF: https://arxiv.org/pdf/2511.03691
OA Status: green
OpenAlex ID: https://openalex.org/W4416020707

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OpenAlex ID: https://openalex.org/W4416020707

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DOI: https://doi.org/10.48550/arxiv.2511.03691

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Title: Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping

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Type: preprint

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Publication year: 2025

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Publication date: 2025-11-05

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Authors: Zhipeng Qin, Yueheng Zhang, Wan Su, Linrui Hou, Shenghao Zhou, Zhijun Chen, Yu Jun Tan, Cecilia Laschi

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Landing page: https://arxiv.org/abs/2511.03691

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PDF URL: https://arxiv.org/pdf/2511.03691

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Open access: Yes

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OA status: green

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OA URL: https://arxiv.org/pdf/2511.03691

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Cited by: 0

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