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Rapid Grasping of Fabric Using Bionic Soft Grippers with Elastic Instability (IROS 2023)

We present a novel soft gripper which can widely open (86 mm) and fastly close(46 ms) following a trajectory similar to that of a thumb-index finger pinching. It can pick up thin fabric rapidly, and its performance is 2.7 times and 10.9 times better than the traditional gripper in terms of span and speed. This represents a significant enhancement over existing soft grippers.

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