Soft gripper, manufacturing method thereof, and control system and method thereof

Abstract

In some embodiments, a soft gripper, a method of manufacturing the same, a system and method for controlling the same are provided. In one embodiment, a soft gripper includes a body including a suction cup portion and a neck portion; the neck portion comprises a neck chamber and the suction cup portion comprises a suction cup chamber, the neck chamber and the suction cup chamber together form a main chamber, the main chamber is configured to be in gas communication with a first pneumatic source and to receive a squeezing material, and wherein the neck portion comprises at least one auxiliary chamber which is configured to be in gas communication with a second pneumatic source and to receive the squeezing material. The at least one auxiliary chamber is disposed about the neck chamber and is configured to be in gas communication with a second pneumatic source. Other example embodiments are described herein. In some embodiments, the provided soft gripper enables seamless deformation between a gripper suction configuration and a gripper squeezing configuration, thereby enhancing gripping capability and versatility.

Description

Cross - Reference to Related Applications

[0001] This application claims the priority and benefit of U.S. Provisional Application Serial No. 63 / 608,831, filed on December 12, 2023. The entire content of the foregoing application is hereby incorporated by reference in its entirety for all purposes. Technical Field

[0002] This application relates to robotic devices, and more particularly to soft grippers, methods of manufacturing the same, control systems thereof, and methods. Background Art

[0003] In recent years, significant progress has been made in the field of robotics, especially in the area of soft robotics. Soft robotics focuses on developing flexible and adaptable robotic systems that mimic the dexterity and versatility of biological organisms.

[0004] Soft grippers are widely used in logistics and manufacturing to manipulate objects of different shapes and sizes. However, existing soft grippers typically have limitations in their ability to handle objects of different sizes. For example, suction grippers can only attach to objects with a contact surface smaller than the working surface of the suction cup, while pinch grippers cannot grasp objects larger than the pinch cavity of the gripper. There is an urgent need to develop grippers with enhanced grasping capabilities as they can handle objects with different shapes, sizes, and materials. Summary of the Invention

[0005] In view of the foregoing background, in certain embodiments, the aim is to provide a novel soft gripper structure with a deformation mechanism.

[0006] In some embodiments, the novel soft gripper structure incorporates a deformation mechanism that enables seamless switching between a gripper suction configuration and a gripper pinch configuration. In some embodiments, a silicone rubber casting process is used to manufacture the gripper structure using a set of molds, thereby ensuring uniform material distribution and improved durability. In some embodiments, a pneumatic control system enables the gripper to deform between the gripper suction configuration and the gripper pinch configuration. In some embodiments, through the integration of these components, the gripper structure, manufacturing method, and control system of the present invention enable the production of a soft gripper that can have two grasping forms (pinch form and suction form) and can deform seamlessly between these two forms. In some embodiments, this application seeks to protect the unique features and innovative aspects of the gripper structure, manufacturing method, and control method, thereby providing proprietary rights and recognition for its utility in industries such as logistics and manufacturing.

[0007] In some embodiments, the present application introduces a soft gripper structure that incorporates a deformation mechanism, enabling it to switch between a gripper suction configuration and a gripper jamming configuration. In some embodiments, a manufacturing method for the gripper is developed, and a pneumatic control system together with a corresponding method is also supplemented to achieve deformation between different gripper configurations. In some embodiments, the soft gripper can deform into a gripper suction configuration to attach and release an object having a contact surface with a working surface larger than the suction cup. In some embodiments, the soft gripper can also deform into a gripper jamming configuration to attach and release an object having a contact surface with a working surface smaller than the suction cup. In some embodiments, 3D printing molds and casting techniques are used to manufacture the soft gripper. In some embodiments, the pneumatic control system enables the corresponding structure of the soft gripper to be activated in a specific sequence, allowing it to achieve deformation between the two gripper configurations.

[0008] In some embodiments, a soft gripper having a proximal side and a distal side is provided, comprising: a body including a suction cup portion having an open end located at the proximal side; and a neck portion connected to or extending from the suction cup portion; and a contact membrane configured to seal the open end, wherein a neck chamber is included in the neck portion and a suction cup chamber is included in the suction cup portion, and the neck chamber and the suction cup chamber together form a main chamber configured to be in gas communication with a first pneumatic source and receive jamming material, and wherein at least one auxiliary chamber is further included in the neck portion, each auxiliary chamber being disposed around the neck chamber and configured to be in gas communication with a second pneumatic source.

[0009] In some embodiments, a method of manufacturing a soft gripper as described in any of the foregoing embodiments is provided, comprising the steps of: (1) providing a body mold sized and shaped to form the body and curing a first flexible material into the body mold to form the body; (2) providing a membrane mold sized and shaped to form the contact membrane and curing a second flexible material into the membrane mold to form the membrane; and (3) attaching the contact membrane to the body to form the soft gripper.

[0010] In some embodiments, a pneumatic system for controlling a soft gripper as described in any of the foregoing embodiments is provided, including: an auxiliary chamber control system, the auxiliary chamber control system including: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system, the main chamber control system including: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber. In some embodiments, a method of using a pneumatic system as described herein to control a soft gripper as described in any of the foregoing embodiments is provided, the method including one or more of the following steps: (i) grasping a target object in a jam attachment configuration; (ii) grasping a target object in a suction attachment configuration; (iii) deforming from the jam attachment configuration to the suction attachment configuration; and / or (iv) deforming from the gripper suction configuration to the gripper jam configuration.

[0011] This disclosure has many advantages. In some embodiments, the mechanism enables the gripper to seamlessly deform between a gripper suction configuration and a gripper jam configuration, thereby leveraging the respective advantages of both suction and jamming methods within a single gripper structure. In some embodiments, the gripper suction configuration allows for the creation of a vacuum seal, enabling the secure grasping of flat and smooth objects. In contrast, in some embodiments, the gripper jam configuration utilizes granular material to conform to the shape of the object, thereby facilitating the effective manipulation of irregularly shaped or porous objects. In some embodiments, the ability to switch between the gripper suction configuration and the gripper jam configuration enables the soft gripper to be adapted to a wider range of objects, making it suitable for a variety of tasks in various industries such as logistics and manufacturing. Overall, in some embodiments, the invention of the soft gripper structure with a deformation mechanism addresses the limitations of existing grippers and provides a new engineering solution with enhanced grasping capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A is a perspective view of an exemplary soft gripper with a deformation mechanism according to an exemplary embodiment.

[0013] Figure 1B is according to Figure 1A the same embodiment of an exemplary soft gripper with a deformation mechanism.

[0014] Figure 1CIs a perspective view of an exemplary soft gripper with a deformation mechanism in a square shape according to another exemplary embodiment.

[0015] Figure 1D Is a perspective view of an exemplary soft gripper with a deformation mechanism in an oval shape according to another exemplary embodiment.

[0016] Figure 1E Is according to Figure 1D The bottom view of an exemplary soft gripper with a deformation mechanism in an oval shape according to the same exemplary embodiment.

[0017] Figure 1F Is a schematic cross-sectional view of an exemplary soft gripper with three auxiliary chambers according to another exemplary embodiment.

[0018] Figure 1G Is a schematic cross-sectional view of an exemplary soft gripper with four auxiliary chambers according to another exemplary embodiment.

[0019] Figures 2A through 2C Is a schematic diagram of an exemplary manufacturing method of a soft gripper according to an exemplary embodiment.

[0020] Figure 3 Is a schematic diagram of an exemplary pneumatic control system for controlling a soft gripper according to an exemplary embodiment.

[0021] Figures 4A through 4D Is a schematic diagram of an exemplary control scheme of a soft gripper using an exemplary pneumatic control system, where the soft gripper is in a plugging attachment configuration, an adsorption attachment configuration, a deformation from the gripper plugging configuration, and a deformation from the gripper adsorption configuration to the gripper plugging configuration, respectively.

[0022] Figure 5A Is a perspective view of an exemplary soft gripper with a deformation mechanism in a square shape according to another exemplary embodiment.

[0023] Figure 5B Is according to Figure 5A The cross-sectional view of an exemplary soft gripper with a deformation mechanism according to the same embodiment.

[0024] Figure 5C Is a perspective view of an exemplary soft gripper with a deformation mechanism in a square shape according to yet another exemplary embodiment.

[0025] Figure 5D Is a perspective view of an exemplary soft gripper with a deformation mechanism in an oval shape according to yet another exemplary embodiment.

[0026] Figure 5E Is according to Figure 5DBottom view of an exemplary soft gripper with a deformation mechanism having an elliptical shape of the same exemplary embodiment.

[0027] Figure 5F Schematic cross-sectional view of an exemplary soft gripper having three auxiliary chambers according to another exemplary embodiment.

[0028] Figure 5G Schematic cross-sectional view of an exemplary soft gripper having four auxiliary chambers according to another exemplary embodiment.

[0029] Figures 6A through 6C Schematic diagram of an exemplary manufacturing method of a soft gripper according to another exemplary embodiment.

[0030] Figure 7 Schematic diagram of an exemplary pneumatic control system for controlling a soft gripper according to another exemplary embodiment.

[0031] Figures 8A through 8D Schematic diagram of an exemplary control scheme of a soft gripper using an exemplary pneumatic control system, where the soft gripper is in a jam attachment configuration, an adsorption attachment configuration, deformation from a gripper jam configuration, and deformation from a gripper adsorption configuration to a gripper jam configuration, respectively.

[0032] Figure 9 Series of photos (A - F) of an exemplary embodiment of an exemplary control scheme of an exemplary soft gripper for handling different objects. Detailed Description Definitions

[0033] As used herein and in the claims, the term "comprising" (or any related form, such as "comprise / comprises"), "including" (or any related form, such as "include / includes"), "containing" (or any related form, such as "contain / contains") means including the following elements but not excluding other elements. It should be understood that for each embodiment using the term "comprising" (or any related form, such as "comprise / comprises"), "including" (or any related form, such as "include / includes"), or "containing" (or any related form, such as "contain / contains"), the present disclosure / application also includes alternative embodiments, in which the term "comprising", "including" or "containing" is replaced by "consisting essentially of" or "consisting of". These alternative embodiments using "consisting of" or "consisting essentially of" are understood to be embodiments of a smaller scope of the "comprising", "including" or "containing" embodiments.

[0034] For clarity, "comprising", "including", "containing" and "having" and any related forms are open - ended terms that allow additional elements or features in addition to the specified essential elements, while "consisting of" is a closed - ended term that is limited to the elements recited in the claim and does not include any elements, steps or components not specified in any claim.

[0035] As used herein, the singular forms "a / an" and "the" are intended to also include the plural forms, unless the context clearly indicates otherwise. When a range is recited in the specification, the range is understood to include each discrete point within the recited range. For example, 1 to 7 means 1, 2, 3, 4, 5, 6 and 7.

[0036] As used herein, the term "about" is understood to be within the normal tolerances in the art and not exceeding ±10% of the specified value. By way of example only, about 50 means from 45 to 55, including all values in between. As used herein, the phrase "about" a particular value also includes the particular value.

[0037] As used herein and in the claims, the terms "substantially" or "substantively" or "essentially" or "basically" mean that the recited characteristics, aspects, shapes, states, structures or values need not be achieved exactly, but deviations or variations, including for example, tolerances, measurement errors, measurement precision limitations and other factors known to those skilled in the art, may occur in an amount that does not preclude the effects expected from the recited characteristics. For example, an object having a "substantially" cylindrical shape means that the object has an exact cylindrical shape or nearly an exact cylindrical shape. In another example, an object that is "essentially" perpendicular to a surface means that the object is exactly perpendicular to the surface or nearly exactly perpendicular to the surface, e.g., with a 5% deviation.

[0038] It should be understood that terms such as "top", "bottom", "middle", "side", "length", "inner", "outer", "inside", "outside", "outer side", "vertical", "horizontal", etc. that may be used herein merely describe reference points and do not limit the present invention to any particular orientation or configuration. Further, terms such as "first", "second", "third", etc. merely identify one of the multiple parts, components, and / or reference points disclosed herein, and likewise do not limit the present invention to any particular configuration or orientation.

[0039] As used herein, the term "connect (connect / connecting / connected / connection)" means physically combining directly or indirectly with other elements.

[0040] As used herein, the term "holder" refers to a device designed to hold or grasp and secure one or more target objects. In some examples, the holder may be made of a soft material and be capable of deforming into different states, and may be referred to as a "soft holder" or a "deformable soft holder".

[0041] As used herein, the term "soft" refers to the property that a material is flexible and at least partially deformable.

[0042] As used herein, the term "in gas communication" means that two components are connected such that at least one gas can flow from one component through to the other component.

[0043] As used herein, the term "body" refers to the main component of a soft holder that includes a neck portion and a suction cup portion. In some examples, the body is made of one or more flexible materials.

[0044] As used herein, the term "main chamber" refers to the space or cavity defined in the body, which contains or is formed by the neck chamber and the suction cup chamber. In some examples, the main chamber is configured to receive one or more plugging materials and is in gas communication with a pneumatic source.

[0045] As used herein, the term "auxiliary chamber" refers to the space or cavity defined in the neck portion, which is disposed around the neck chamber and is in gas communication with a pneumatic source.

[0046] As used herein, the term "suction cup portion" refers to the component of the body in which a suction cup chamber is defined to provide at least a gripper adsorption configuration of the working surface.

[0047] As used herein, the term "neck portion" refers to the component of the body that is connected to or extends from the suction cup portion. In some examples, the neck portion contains a neck chamber and one or more auxiliary chambers.

[0048] As used herein, the term "contact membrane" refers to a flexible film or sheet that substantially covers and seals the open end of the suction cup portion to form the main chamber.

[0049] As used herein, the term "plugging material" refers to the material used for the soft gripper based on the plugging principle. For example, the plugging material is in the form of plugging particles, powders, beads, etc.

[0050] As used herein, the term "valve" refers to a device or component that controls the flow of a fluid (e.g., liquid or gas) by opening, closing, or partially blocking a passage within a system to allow regulation, isolation, or diversion of the flow. For example, the valve is an electric valve that controls the air pressure in a pneumatic system.

[0051] As used herein, the term "pneumatic system" is a control system that uses compressed gas (e.g., air) as a medium to transfer and control the pressure to the soft gripper. For example, the pneumatic system includes one or more components such as an air compressor, a pneumatic actuator, a valve, a pressure gauge, an air filter, a regulator, and an air tube, etc.

[0052] As used herein, the term "pneumatic source" is or contains a device (e.g., a compressor) that pumps compressed gas (e.g., air) and contains components (e.g., valves) for controlling the flow and / or pressure of the compressed gas.

[0053] As used herein, the term "deformable" refers to an element that is capable of undergoing changes in form, shape, and / or configuration. For example, a deformable soft gripper contains different components that have the ability to deform or change into different states or configurations such as a plugging configuration and an adsorption configuration.

[0054] As used herein, the term "adsorption configuration" or "gripper adsorption configuration" refers to the state of a soft gripper that is configured to attach to and release an object via an adsorption mechanism. By way of example, the gripper adsorption configuration allows for the creation of a vacuum seal, enabling the secure grasping of objects such as flat and smooth objects, which may (or may not) have a contact surface larger than the working surface of the suction cup.

[0055] As used herein, the term "jamming configuration" or "gripper jamming configuration" refers to the state of a soft gripper that is configured to attach to and release an object via a jamming mechanism. By way of example, the gripper jamming configuration utilizes granular material to conform to the shape of an object, thereby facilitating the effective manipulation of the object (such as an irregularly shaped or porous object).

[0056] Although the description refers to specific embodiments, the present disclosure should not be construed as limited to the embodiments set forth herein. Embodiments of the Invention Embodiment 1

[0057] In some embodiments, the novel soft gripper structure incorporates a deformation mechanism that enables seamless switching between the gripper adsorption configuration and the gripper jamming configuration. In some embodiments, a silicone rubber casting process is used to fabricate the gripper structure using a set of molds, thereby ensuring uniform material distribution and increased durability. In some embodiments, a pneumatic control system enables the gripper to deform between the gripper adsorption configuration and the gripper jamming configuration. In some embodiments, through the integration of these components, the gripper structure, manufacturing method, and control system of the present invention enable the creation of a soft gripper that can have two grasping forms (jamming form and adsorption form) and can deform seamlessly between these two forms. In some embodiments, the present application seeks to protect the unique features and innovative aspects of the gripper structure, manufacturing method, and control method, thereby providing proprietary rights and recognition for its utility in industries such as logistics and manufacturing.

[0058] In some embodiments, the present application introduces a soft gripper structure that incorporates a deformation mechanism, enabling it to switch between a gripper adsorption configuration and a gripper jamming configuration. In some embodiments, a manufacturing method for the gripper is developed, and a pneumatic control system together with a corresponding method is also supplemented to achieve deformation between different gripper configurations. In some embodiments, the soft gripper can be deformed into a gripper adsorption configuration to attach and release an object having a contact surface with a working surface larger than the suction cup. In some embodiments, the soft gripper can also be deformed into a gripper jamming configuration to attach and release an object having a contact surface with a working surface smaller than the suction cup. In some embodiments, 3D printing molds and casting techniques are used to manufacture the soft gripper. In some embodiments, the pneumatic control system enables the corresponding structures of the soft gripper to be activated in a specific sequence, allowing it to achieve deformation between the two gripper configurations. Example

[0059] Examples are provided herein that more particularly describe certain embodiments of the present disclosure. The examples provided herein are for illustrative purposes only and are not meant to limit the scope of the invention in any way. All references given below and elsewhere in this application are hereby incorporated by reference herein. Example 1

[0060] Now refer to Figure 1A and Figure 1B , the deformable soft gripper structure 100 includes a main chamber air tube 101, two auxiliary chamber air tubes 102 and 112, a body 103, a suction cup 104, and a contact membrane 105. Details of each component are described below:

[0061] Main chamber air tube 101. It is a hose connected to the main chamber 107.

[0062] Two auxiliary chamber air tubes 102 and 112. They are hoses connected to the auxiliary chamber 106.

[0063] Body 103. The main chamber 107 has a cylindrical cavity aligned with the central axis of the body 103. Figure 1B Another two cavities symmetrically aligned with respect to the main chamber 107 are two auxiliary chambers 106. Each auxiliary chamber 106 has a narrow upper opening and a large lower space. Thus, the upper wall between the main chamber 107 and the auxiliary chamber 106 is much thicker than the lower wall. The main chamber 107 is filled with jamming particles 108. For example, the body 103 is made of a flexible material, such as rubber, silicone rubber (such as Dragon Skin 0030 or Dragon Skin 0010), or RTV silicone rubber, or a combination thereof.

[0064] The suction cup 104. It is connected to the bottom of the main body 103. It is a flexible concave cup-shaped member. The overall shape is similar to a cone, having a vertical extension in the widening direction of the cone. The narrower side is connected to the main chamber 107. There are two small grooves 109 on the bottom edge surface of the suction cup part. These two grooves are used to increase Figure 1B the connection strength between the contact membranes 105 in

[0065] The contact membrane 105. It is a soft film that seals the bottom of the suction cup 104. The contact membrane 105 can have various patterns or designs on its surface, including bumps, pits, and coatings of different materials. For example, the contact membrane 105 is made of a flexible material, and the flexible material is such as silicone rubber (such as Ecoflex 0030 or Ecoflex 0010). In some embodiments, the flexibility of the flexible material of the contact membrane is greater than the flexibility of the flexible material of the main body. For example, the film casting material can be a dopamine-based adhesive nano-coating, or a hyaluronic acid hydrogel adhesive, or a combination of the above.

[0066] Figure 1A and Figure 1B the deformable soft gripper 100 in has a generally circular cross-section. Now refer to Figures 1C through 1E , another exemplary deformable soft gripper structure 100A with a square cross-section and another exemplary deformable soft gripper structure 100B with an oval cross-section are shown.

[0067] Now refer to Figures 1F through 1G , the exemplary deformable soft gripper structure 100 includes more than one auxiliary chamber 106. The exemplary deformable soft grippers include three auxiliary chambers (100C) and four auxiliary chambers (100D) respectively. Example 2

[0068] Now refer to Figures 2A through 2C , to manufacture the deformable soft gripper structure 100, an exemplary manufacturing method with the following steps is provided:

[0069] Step 1: Assemble the 3D-printed top fixer 202, the 3D-printed closed cap 201, the 3D-printed left outer shell 206, the 3D-printed left inner shell 205, the 3D-printed right outer shell 204, the 3D-printed right inner shell 203, and the 3D-printed base mold 207 to form a complete mold 208. Then, pour silicone gel through the top opening of the top fixer 202, and place the mold 208 in a vacuum environment for degassing. After degassing, take the mold 208 out of the vacuum environment. Let the mold 208 stand for curing to allow the silicone rubber to cure into the main body 209. Then, remove the mold 208.

[0070] Step 2: Fill the mold 210 with silicone rubber. Place the filled mold 210 in a vacuum environment and let it stand for degassing. After degassing, take the mold 210 out of the vacuum environment and mate the upper side of the main body 209 with the bottom of the mold 210. Let them stand for curing to allow the silicone rubber to cure the cap of the main body 209 and become the new main body 211. Then, remove the mold 210 from the main body 211.

[0071] Step 3: Fill the mold 221 with soft silicone rubber, place it in a vacuum environment, and let it stand for degassing. After degassing, take the mold 221 out of the vacuum chamber and let it stand for curing to allow the silicone rubber to cure into the contact film 105. Then, adhere the contact film 105 with silicone rubber adhesive to seal the bottom opening of the main body 209. Adhere the main chamber air tube 101 and the two auxiliary chamber air tubes 102 and 112 to the top opening of the main body 209 with silicone rubber adhesive. After filling a certain amount of plugging particles 108 into the main chamber air tube 101, the deformable soft gripper 100 is manufactured. Example 3

[0072] Now refer to Figure 3 , an exemplary pneumatic control system 399 for controlling the deformable soft gripper 100 includes two control groups, namely the auxiliary chamber control group 300 and the main chamber control group 310.

[0073] In the auxiliary chamber control group 300, the outlet of the compressor 301 is connected to the 2 / 3-way electric valve 302, and the inlet of the compressor 301 is connected to the 2 / 3-way electric valve 303. When the valve 302 is in the "open" state and the valve 303 is in the "closed" state, the compressor 301 can pump air from the surrounding environment and transfer positive pressure to the auxiliary chamber 106. This expansion causes the auxiliary chamber 106 to expand towards the main chamber, effectively preventing the plugging particles 108 from passing through the main chamber 107. When the valve 302 is in the "closed" state and the valve 303 is in the "open" state, the compressor 301 can pump air to the surrounding environment, thereby generating a negative pressure in the auxiliary chamber 106. This deflation causes the auxiliary chamber 106 to contract, thereby allowing materials to pass through the main chamber 107. When both the valve 302 and the valve 303 are in the "closed" state, the pressure in the auxiliary chamber 106 is locked. When both valves are set to "open", the pressure in the auxiliary chamber 106 is equal to the atmospheric pressure.

[0074] In the main chamber control group 310, the outlet of the compressor 311 is connected to the 2 / 3-way electric valve 312, and the inlet of the compressor 311 is connected to the 2 / 3-way electric valve 313. When valve 312 is in the "open" state and valve 313 is in the "closed" state, the compressor 311 can pump air from the surrounding environment and transfer positive pressure to the main chamber 107, thereby causing the contact membrane 105 to expand outward. When valve 312 is in the "closed" state and valve 313 is in the "open" state, the compressor 311 can pump air to the surrounding environment and transfer negative pressure to the main chamber 107, thereby causing the contact membrane 105 to shrink inward. When both valve 312 and valve 313 are in the "closed" state, the pressure in the main chamber 107 is locked. When both valves are in the "open" state, the pressure inside the main chamber 107 is equal to the atmospheric pressure. Example 4

[0075] Now refer to Figures 4A through 4D , under the control of a pneumatic system (such as the exemplary system 399 described in Example 3), the deformable soft gripper 100 can perform four functions: (1) a jamming attachment 420 for gripping an object smaller than the gripper, (2) a suction attachment 440 for gripping an object larger than the gripper, (3) a deformation from the gripper jamming configuration to the gripper suction configuration (deformation 460), and (4) a deformation from the gripper suction configuration to the gripper jamming configuration (deformation 480).

[0076] Now refer to Figure 4A, in order to achieve the jam attachment 420, the pneumatic system performs a series of actions. First, during the jamming phase 421, valves 302, 303, 312, 313 are all in the "open" state, and the gripper 100 is in its rest state 100-1, positioned on top of the small target 431. Next, in the jamming phase 422, by changing the valve 313 to the "closed" state, positive pressure is transmitted to the main chamber 107, causing the contact membrane 105 to expand outward. As a result, the jam particles 108 fall into the expanded space, causing the gripper 100 to deform from state 100-1 to state 100-2. Then, in the jamming phase 423, the valve 303 changes to the "closed" state, causing the auxiliary chamber 106 to expand towards the main chamber. This expansion prevents the jam particles 108 from flowing back into the main chamber 107. This causes the gripper 100 to deform to state 100-3. In the jamming phase 424, the gripper 100 descends towards the target 431 until the target is completely surrounded by the jam particles 108. In the jamming phase 425, the valve 313 changes to the "open" state, creating a negative pressure in the main chamber 107. This causes the jam particles 108 to be pressed towards the target 431, causing the gripper to deform to state 100-4. Finally, in the jamming phase 426, the valve 313 changes to the "closed" state, and the target 431 is attached to the gripper 100, completing the jam attachment and allowing the gripper to effectively manipulate small objects.

[0077] Now refer to Figure 4B, in order to achieve adsorption attachment 440, the pneumatic system performs a series of actions. First, during the adsorption phase 441, valves 302, 303, 312, and 313 are all set to the "open" state, and the gripper 100 is in its resting state 100-1, positioned on top of the large target 8207. Then, in the subsequent adsorption phase 442, by changing valve 312 to the "closed" state, a negative pressure is applied to the main chamber 107, causing the contact membrane 105 to shrink inward. This action pushes the jamming particles 108 into the main chamber 107, causing the gripper 100 to deform from state 100-1 to state 100-5. Next, in adsorption phase 443, valves 303 and 313 become "closed" states, while valve 312 is set to "open". The auxiliary chamber 106 expands towards the main chamber, preventing the jamming particles 108 from falling back into the suction cup 104. The contact membrane expands outward under a relatively small pressure, causing the gripper 100 to deform to state 100-6. In adsorption phase 444, the gripper 100 descends towards the target 8207 until the target is fully in contact with the membrane 105. In adsorption phase 445, valve 313 becomes "open", creating a negative pressure in the main chamber 107. This forms a vacuum space between the contact membrane 105 and the target 8207, causing the gripper 100 to deform to state 100-7. Finally, in adsorption phase 446, valve 313 is switched to "closed", and the target 8207 is firmly attached to the gripper 100, completing the adsorption attachment and enabling the gripper to effectively manipulate large objects.

[0078] Now refer to Figure 4C , in order to achieve the deformation from the gripper jamming configuration to the gripper adsorption configuration (deformation 460), the pneumatic system performs a series of actions. First, the gripper is in the jamming state 100-3, where valve 302 is in the "open" state, valve 303 is in the "closed" state, valve 312 is in the "open" state, and valve 313 is in the "closed" state. Then, valve 303 is switched to "open", allowing the auxiliary chamber to create a passage for the jamming particles 108, and the gripper 100 deforms from state 100-1 to state 100-2. Next, valve 312 becomes the "closed" state, and valve 313 becomes the "open" state. A negative pressure is applied to the main chamber 107, causing the contact membrane 105 to shrink inward, which causes the jamming particles 108 to be pushed into the main chamber 107. Thus, the gripper 100 deforms from state 100-2 to state 100-5. Finally, valve 303 becomes the "closed" state, while valve 312 becomes the "open" state. The gripper 100 deforms from state 100-5 to state 100-6. At this point, the gripper 100 is ready for adsorption-based grasping.

[0079] Now refer to Figure 4D, To achieve the deformation from the gripper adsorption configuration to the gripper jamming configuration (deformation 480), the pneumatic system needs to take a series of actions. First, the gripper is in the adsorption state 100-6, where valve 302 is in the "open" state, valve 303 is in the "closed" state, valve 312 is in the "open" state, and valve 313 is in the "open" state. The process starts with the activation of valve 303, which opens the passage for jamming particles 108 in the auxiliary chamber. This causes the gripper 100 to deform from state 100-6 to state 100-1. Subsequently, by changing valve 313 to the "closed" state, a positive pressure is applied to the main chamber 107. This causes the contact membrane 105 to expand outwards, allowing the jamming particles 108 to fall into the expanded space. The gripper 100 deforms from state 100-1 to state 100-2. During the jamming stage 423, valve 303 changes to the "closed" state. This action causes the auxiliary chamber 106 to expand towards the main chamber, preventing the jamming particles 108 from flowing back into the main chamber 107. Thus, the gripper 100 deforms to state 100-3, making it ready for jamming-based grasping. Example 5

[0080] In this example, the exemplary deformable soft gripper 100 includes:

[0081] A 100-mm long main chamber air tube 101 made of thermoplastic polyurethane (TPU).

[0082] Two 100-mm long auxiliary chamber air tubes 102 and 112 made of TPU.

[0083] The body 103. It is designed in the form of an inverted funnel made of DragonSkin 30 TM crafted with care. The smaller end of the funnel has a diameter of 15 mm, and the larger end of the funnel has a diameter of 20 mm. Inside this structure, there is a cylindrical cavity with a diameter of 8 mm, which is aligned with the central axis of the funnel, constituting the main chamber 107. Additionally, symmetrically arranged with respect to the main chamber 107 are two cavities that form the auxiliary chamber 106.

[0084] The suction cup 104. It is connected to the bottom of the body 103. It is a flexible concave cup-shaped part made of TPU. The overall shape of this cup-shaped part is similar to a cone, with a vertical extension in the widening direction of the cone. The narrower side is connected to the main chamber 107. There are two small grooves 109 on the bottom edge surface of the suction cup part. These two grooves are used to increase the connection strength between the contact membranes 105.

[0085] The contact membrane 105. It is a cylindrical film with a measured diameter of 20 mm and a thickness of 1.15 mm. This cylindrical film seals the bottom of the suction cup 104. Using Ecoflex-0030 TMto fabricate the membrane. The contact membrane 105 can have various patterns or designs on its surface, including bumps, pits, and coatings of different materials.

[0086] In this example, the manufacturing method of the deformable soft gripper 100 is illustrated by the following steps:

[0087] Step 1: Assemble the SLA-3D printed top holder 202, the SLA-3D printed closed cap 201, the SLA-3D printed left outer shell 206, the SLA-3D printed left inner shell 205, the SLA-3D printed right outer shell 204, the SLA-3D printed right inner shell 203, and the SLA-3D printed base mold 207 to form the complete mold 208. Then, pour 15g of DragonSkin 30 TM silicone gel through the top opening of the top holder 202, and let the mold 208 stand in a vacuum environment for 20 minutes. After 20 minutes, take the mold 208 out of the vacuum environment. Let the mold 208 stand for 16 hours to allow the DragonSkin 30 TM silicone rubber to cure into the main body 209. Then, remove the mold 208.

[0088] Step 2: Fill the mold 210 with 5g of DragonSkin 30 TM silicone rubber. Place the filled mold 210 in a vacuum environment and let it stand for 20 minutes. After this time, take the mold 210 out of the vacuum environment, and attach the upper side of the main body 209 to the bottom of the mold 210. Let them stand for 4 hours to allow the DragonSkin 30 TM silicone rubber to cure the cap of the main body 209 and become the new main body 211. Then, remove the mold 210 from the main body 211.

[0089] Step 3: Fill the mold 221 with 2g of Ecoflex-0030 TM silicone rubber, and place it in a vacuum environment for 5 minutes. After this period, take the mold 221 out of the vacuum chamber and let it stand for 4 hours, thus allowing the silicone rubber to cure and form the contact membrane 105. Then, use the silicone rubber adhesive Sil-Poxy TM to adhere the contact membrane 105 to seal the bottom opening of the main body 209 of the deformable soft gripper 100. Additionally, use the silicone rubber adhesive Sil-Poxy TM to attach the main chamber air tube 101 and the two auxiliary chamber air tubes 102 and 112 to the top opening of the main body 209. Once the adhesive has cured, fill the main chamber air tube 101 with 10g of dry coffee grounds to complete the fabrication of the deformable soft gripper 100.

[0090] In different industrial production or underwater object recovery scenarios, actuators often face many challenges. These challenges include having to operate both on the water surface and underwater, or requiring larger debris to be removed first before smaller objects are picked up. In this example, valves 302, 303, 312, 313 are initially all in the "open" state. The gripper 100 is in its resting state 100-1 and is placed on top of a 50mm x 50mm acrylic box 551. Then, during the adsorption phase 442, valve 312 is switched to the "closed" state, allowing a pressure of -25 kPa to be transmitted to the main chamber 107. This action causes the contact membrane 105 to shrink inwardly, pushing the jamming particles 108 into the main chamber 107. The gripper 100 deforms from state 100-1 to state 100-5. Subsequently, valves 303 and 313 become "closed", while valve 312 becomes "open". This causes the auxiliary chamber 106 to expand towards the main chamber, preventing the jamming particles 108 from falling back into the suction cup 104. The contact membrane expands outwardly under a pressure of 2 kPa, causing the gripper 100 to deform to state 100-6. During the next phase, in the adsorption phase 444, the gripper 100-6 descends towards the acrylic box 551 until the acrylic box 551 is in full contact with the membrane 105. Then, valve 313 becomes "open", allowing a pressure of -25 kPa to be transmitted to the main chamber 107. This pressure creates a vacuum space between the contact membrane 105 and the acrylic box 551. This deformation causes the gripper 100 to become state 100-7. Finally, valve 313 becomes "closed", allowing the target 431 to adhere to the gripper 100-7. The gripper 100 removes the top of the acrylic box 551. After this action, the gripper 100 deforms from the gripper adsorption configuration to the gripper jamming configuration (deformation 480). Valve 303 becomes "closed", causing the auxiliary chamber 106 to expand towards the main chamber, preventing the jamming particles 108 from flowing back into the main chamber 107. This deformation causes the gripper 100 to become state 100-3. Then, the gripper 100 moves downwards towards a mung bean 552 with a diameter of 4 mm inside the box 551. The gripper continues its operation until the mung bean 552 is completely surrounded by the jamming particles 108. Subsequently, valve 313 becomes "open", applying a pressure of -25 kPa to the main chamber 107. This causes the jamming particles 108 to be squeezed towards the target 431 and causes the gripper 100 to deform to state 100-4. Finally, valve 313 becomes "closed", fixing the target 431 to the gripper in state 100-4. The gripper 100 attaches to the mung bean 552 and removes it from the box 551. Embodiment 2 Example 6

[0091] Now refer to Figure 5A and Figure 5B, an exemplary deformable soft gripper 5000 is shown, which generally includes a body 5100 and a contact film 5130. For ease of description, the direction closer to the contact film 5130 of the soft gripper 5000 is referred to as "proximal", and the direction away from the contact film 5130 of the soft gripper 5000 is referred to as "distal". The side closer to the contact film 5130 is referred to as the "proximal side", and the side away from the contact film 5130 is referred to as the "distal side".

[0092] The body 5100 generally includes a suction cup portion 5110 and a neck portion 5120. The suction cup portion has an open end at the proximal side, and the neck portion is connected to or extends from the suction cup portion 5110.

[0093] Now referring to Figure 5B , in this example, the neck portion 5120 extends from the suction cup portion 5110 to form an integral body 5100. A neck chamber 5121 is defined in the neck portion 5120, and a suction cup chamber 5111 is defined in the suction cup portion 5110. The neck chamber 5121 and the suction cup chamber 5111 together form a main chamber 5101 defined by the body 5100 and the contact film 5130. The neck chamber 5121 further includes a cylindrical hollow main chamber air tube 5200 (also shown in Figure 5A ), or is connected thereto. The size and shape of the main chamber air tube are configured to be connected to the main chamber 5101 and a first pneumatic source (not shown here and will be described in more detail later) and is constructed to be in gas communication with the main chamber 5101 and the first pneumatic source. In this example, the main chamber air tube 5200 is made of a flexible material. In this example, the neck portion 5120 generally has an inverted frustoconical shape, with a proximal side of reduced diameter connected to or extending from the distal side of the suction cup portion 5110 and an opposite distal side of larger diameter. The neck chamber 5121 is generally a cylindrical cavity, aligned with the central axial axis of the neck portion 5120 of the body 5100. The neck chamber 5121 further includes a proximal side chamber of reduced diameter and a distal side chamber of larger diameter. The proximal side chamber is configured to be in gas communication with a cup-shaped chamber, and the distal side chamber is configured to be connected to the main chamber air tube 5200. At least one auxiliary chamber 5122 is further defined in the neck portion 5120. The at least one auxiliary chamber is disposed around the central axial axis of the neck portion 5120 and is configured to be in gas communication with a second pneumatic source (not shown and will be described in more detail later) respectively. In this example, the neck portion 5120 includes two separate auxiliary chambers 5122A, 5122B (or collectively 5122) disposed around the central neck chamber 5121. Each of the auxiliary chambers 5122 generally includes a larger lower cavity and a reduced upper cylindrical cavity. The size and shape of the upper cavity are configured to be connected to an auxiliary chamber air tube 5300 (also inFigure 5A are configured to cooperate with the neck chamber 5121 of the main chamber 5101 (as shown in FIG. 5). In this example, the two auxiliary chambers 5122A, 5122B are two curved rectangular cavities with a C-shaped cross-section, symmetrically aligned with respect to the neck chamber 5121 of the main chamber 5101. Each auxiliary chamber 5122 further contains or is connected to cylindrical hollow auxiliary chamber air tubes 5300A, B, the dimensions and shapes of which are set to connect with the neck chamber 5121 and the second pneumatic source and are configured to be in gas communication with the neck chamber 5121 and the second pneumatic source. In this example, the auxiliary chamber air tubes 5300 are made of a flexible material. Each auxiliary chamber 5122 has a narrow upper opening and a larger lower space. Thus, the upper wall 5123 between the neck chamber 5121 of the main chamber 5101 and the auxiliary chamber 5122 is thicker than the lower wall 5124 between the neck chamber 5121 of the main chamber 5101 and the auxiliary chamber 5122.

[0094] Still referring to Figure 5A and Figure 5B , the suction cup portion 5110 is connected to or extends from the bottom of the main body 5100. In this example, the suction cup portion 5110 extends from the main body 5100 and the suction cup portion is a concave cup-shaped member made of the same flexible material as the main body 5100. The overall shape is similar to a cone with a vertical extension in the widening direction of the cone. The narrower side is connected to or extends from the proximal side of the neck chamber 5121. The periphery of the bottom side of the suction cup portion 5110 further contains two pairs of small grooves 5112, each pair of grooves being disposed at opposite ends. These grooves 5112 are used to increase Figure 5B the connection strength between the contact membranes 5130 in

[0095] The contact membrane 5130 is a flexible film or sheet that substantially covers and seals the bottom opening end of the suction cup 104 to form the main chamber 5101. For example, the contact membrane 5130 further contains various patterns or designs on its surface, including protrusions and / or indentations, such as bumps, edges, or pits, and coatings of different materials, in order to increase the frictional contact with the target object. For example, the contact membrane 5130 is made of one or more flexible materials, such as silicone rubber (such as Ecoflex 00-30 or Ecoflex 00-10 (Smooth-on Inc.)). In some embodiments, the flexibility of the contact membrane 5130 is configured to be greater than that of the main body 5100. For example, the membrane casting material is a dopamine-based adhesive nano-coating, or a hyaluronic acid hydrogel adhesive, or a combination of the above.

[0096] The main chamber 5101 is configured to receive one or more plugging materials. In this example, the main chamber 5101 is filled with plugging microparticles or plugging granules 5140. For example, the plugging granules 5140 are made of coffee grounds having an average particle size of 0.1 mm. For example, the body 5100 is made of one or more flexible materials, such as rubber, silicone rubber (such as Dragon Skin 0030 or Dragon Skin 0010 (Smooth-On, Inc., USA)) or room temperature vulcanizing silicone (RTV silicone) rubber, or a combination of the above.

[0097] The body 5100, the contact membrane 5130, the main chamber 5101, and the auxiliary chamber 5122 may have different sizes, shapes, and configurations, respectively. Figures 5A through 5B The exemplary deformable soft gripper 5000 in [reference] has a generally circular cross-section. Now referring to Figure 5C , another exemplary deformable soft gripper structure 5000A is shown, in which the body 5100A and the contact membrane 5130A have a generally rectangular or square cross-section, and the structure has two auxiliary chambers. Now referring to Figure 5D and Figure 5E , another exemplary deformable soft gripper structure 5000B is shown, in which the body 5100B and the contact membrane 5130B have a generally elliptical cross-section, and the bottom surface of the body 5100B contains two annular grooves 5112B and 5112B'.

[0098] The number of auxiliary chambers 5122 provided in the soft gripper 5000 may vary. Now referring to Figures 5F through 5G , other exemplary deformable soft grippers 5000C and 5000D including more than two auxiliary chambers 5122C and 5122D are shown. The exemplary deformable soft gripper 5000C includes a main chamber 5111C and three auxiliary chambers 5122C, and the exemplary deformable soft gripper 5000D includes a main chamber 5111D and four auxiliary chambers 5122D, and these chambers are substantially arranged around the central axis of the body. Example 7

[0099] Now referring to Figures 6A through 6C , to manufacture a deformable soft gripper (taking the exemplary deformable soft gripper 5000 described in Example 5 as an example), an exemplary manufacturing method with the following steps is provided:

[0100] Step 1: Provide the main body: Provide a main body mold sized and shaped to form the main body, the main body having a suction cup portion and a lower neck portion containing an auxiliary chamber and a main chamber. In this example, the main body mold generally includes a lower main body mold 6100 for forming the lower main body 5150 (or lower portion) and an upper main body mold 6200 for forming the upper main body 5160 (or upper portion). The main body 5100 is formed by the lower main body 5150 and the upper main body 5160.

[0101] Step 1a: Provide the lower main body 5150: Refer to Figure 6A , the lower main body mold 6100 generally contains a top holder 6102, a closing cap 6101, a left outer shell 6106, a left inner shell 6105, a right outer shell 6104, a right inner shell 6103, and a base mold 6107. For example, these main body mold components are made by 3D printing. Assemble the top holder 6102, the closing cap 6101, the left outer shell 6106, the left inner shell 6105, the right outer shell 6104, the right inner shell 6103, and the base mold 6107 to form the complete lower main body mold 6100. Then, pour a first flexible material (e.g., silicone gel) through the top opening of the top holder 6102, and place the lower main body mold 6100 in a vacuum environment for degassing. After degassing, remove the lower main body mold 6100 from the vacuum environment. Let the lower main body mold 6100 stand for curing to allow the first flexible material (e.g., silicone rubber) to cure into the lower main body 5150. Then, remove the lower main body mold 6100 to obtain the lower main body 5150.

[0102] Step 1b: Provide the upper main body 5160: Refer to Figure 6B , provide the upper main body mold 6200. Fill the upper main body mold 6200 with a first flexible material (e.g., silicone rubber). In other examples, fill the upper main body mold 6200 with other flexible materials different from the first flexible material. In one embodiment, place the filled upper main body mold 6200 in a vacuum environment and let it stand for degassing. After degassing, remove the upper main body mold 6200 from the vacuum environment, and mate the upper side (distal side) of the lower main body 5150 formed in Step 1a with the bottom of the upper main body mold 6200. Let them stand for curing to allow the first flexible material (e.g., silicone rubber) to cure the cap of the lower main body 5150 or the upper main body 5160 and form the main body 5100. Then, remove the upper main body mold 6200 from the main body 5100 to obtain the main body 5100.

[0103] Step 2: Provide the contact film 5130: Refer to Figure 6C, a film mold 6001 is provided with dimensions and a shape set to form a contact film 5130, and a second flexible material that is more flexible than the first flexible material is cured into the film mold 6001. In one embodiment, the film mold 6001 is filled with a second flexible material (e.g., soft silicone rubber), placed in a vacuum environment, and left standing for degassing. After degassing, the film mold 6001 is removed from the vacuum chamber and left standing for curing to allow the second flexible material to cure into the contact film 5130.

[0104] Step 3: Attach the contact film 5130 to the main body 5100: Still referring to Figure 6C , attach or adhere the contact film 5130, such as with a silicone rubber adhesive, to seal the bottom opening of the main body 5100.

[0105] Additionally or alternatively, attach and adhere the main chamber air tube 5200 and one or more auxiliary chamber air tubes 5300 to the top opening of the main body 5100, such as with a silicone rubber adhesive, to connect to the main chamber and the auxiliary chamber respectively. After filling an appropriate amount of plugging particles 5140 into the main chamber air tube 5200, the exemplary deformable soft gripper 5000 is manufactured. Example 8

[0106] Now referring to Figure 7 , an exemplary pneumatic control system 7000 for controlling an exemplary deformable soft gripper as described in any of the examples herein (taking the exemplary deformable soft gripper 5000 in Example 5 as an example). The exemplary pneumatic control system 7000 generally includes two control systems, namely an auxiliary chamber control system 7100 and a main chamber control system 7200.

[0107] The auxiliary chamber control system 7100 is directly or indirectly connected to and / or in air communication with the auxiliary chamber 5122, and is configured to provide and control a second pressure within the auxiliary chamber 5122. In a specific implementation, the auxiliary chamber control system 7100 is connected to and / or in air communication with the auxiliary chamber 5122 via the auxiliary chamber air tube 5300. The auxiliary chamber control system 7100 generally includes a second pneumatic source 7110, a first valve 7120, a second valve 7130, and a pressure gauge 7180. In this example, the second pneumatic source 7110 is or includes a compressor, and both the first valve 7120 and the second valve 7130 are 2 / 3-way electric valves, each electric valve being configured to be able to switch between an open state and a closed state. The compressor includes an outlet connected to the first valve 7120 and an inlet connected to the second valve 7130. The first valve 7120 is configured to be connected between the outlet of the second pneumatic source 7110 and at least one auxiliary chamber 5122, and the second valve 7130 is configured to be connected between the inlet of the second pneumatic source 7110 and at least one auxiliary chamber 5122. The pressure gauge 7180 is connected between the outlets of the first valve 7120 and the second valve 7130 and at least one auxiliary chamber 5122. The auxiliary chamber control system 7100 includes a first configuration, a second configuration, a third configuration, and a fourth configuration. When the first valve 7120 is in the "open" state and the second valve 7130 is in the "closed" state (i.e., the first configuration), the second pneumatic source (compressor) 7110 is configured to pump air from the surrounding environment and transfer a positive second pressure to the auxiliary chamber 5122. This positive pressure causes the auxiliary chamber 5122 to expand or dilate toward the neck chamber 5121 of the main chamber 5101, thereby closing the neck chamber 5121 to a closed state to effectively prevent the clogging particles 5140 from passing through the main chamber 5101. When the first valve 7120 is in the "closed" state and the second valve 7130 is in the "open" state (i.e., the second configuration), the second pneumatic source (compressor) 7110 is configured to pump air to the surrounding environment, thereby creating a negative second pressure within the auxiliary chamber 5122. This negative pressure causes the auxiliary chamber 5122 to deflate or contract, thereby opening the neck chamber 5121 to an open state and allowing the clogging material 5140 to pass through the neck chamber 5121 of the main chamber 5101. When both the first valve 7120 and the second valve 7130 are in the "closed" state (i.e., the third configuration), the second pressure within the auxiliary chamber 5122 is locked or maintained. When both valves are set to "open" (i.e., the fourth configuration), the second pressure within the auxiliary chamber 5122 is substantially equal to the atmospheric pressure.

[0108] The main chamber control system 7200 is directly or indirectly connected to and / or in air communication with the main chamber 5101, and is configured to provide and control a first pressure within the main chamber 5101. In one embodiment, the main chamber control system 7200 is connected to and / or in air communication with the main chamber 5101 via the main chamber air tube 5200. The main chamber control system 7200 generally includes a first pneumatic source 7210, a third valve 7220, a fourth valve 7230, and a pressure gauge 7280. In this example, the first pneumatic source 7210 is or includes a compressor, and both the third valve 7220 and the fourth valve 312 are 2 / 3-way electric valves, each electric valve being configured to be able to switch between an open state and a closed state. The compressor includes an outlet connected to the third valve 7220 and an inlet connected to the fourth valve 7230. The third valve 7220 is configured to be connected between the outlet of the first pneumatic source 7210 and the main chamber 5101, and the fourth valve 7230 is configured to be connected between the inlet of the first pneumatic source 7210 and the main chamber 5101. The pressure gauge 7280 is connected between the outlets of the third valve 7220 and the fourth valve 7230 and the main chamber 5101. The main chamber control system 7200 includes a fifth configuration, a sixth configuration, a seventh configuration, and an eighth configuration. When the third valve 7220 is in the "open" state and the fourth valve 7230 is in the "closed" state (i.e., the fifth configuration), the first pneumatic source (compressor) 7210 is configured to pump air from the surrounding environment and transfer a positive first pressure to the main chamber 5101, thereby causing the contact membrane 5130 to expand outward into an expanded state. When the third valve 7220 is in the "closed" state and the fourth valve 7230 is in the "open" state (i.e., the sixth configuration), the first pneumatic source (compressor) 7210 is configured to pump air to the surrounding environment and transfer a negative first pressure to the main chamber 5101, thereby causing the contact membrane 5130 to deflate inward into a deflated state. When both the third valve 7220 and the fourth valve 7230 are in the "closed" state (i.e., the seventh configuration), the first pressure in the main chamber 5101 is locked or maintained. When both valves are in the "open" state (i.e., the eighth configuration), the first pressure within the main chamber 5101 is substantially equal to the atmospheric pressure. Table 1 summarizes the eight configurations of the pneumatic system 7000. By controlling the pneumatic system 7000 to be in different configurations to control the contact membrane 5130 and the neck chamber 5121 of the main chamber 5101 to be in different deformation states, the deformable soft gripper 5000 is configured to be able to switch at least between a gripper adsorption configuration and a gripper jamming configuration. More details will be described in the following examples. Table 1. Eight Configurations of Pneumatic System 7000 Example 9

[0109] Now refer to Figures 8A through 8D, a deformable soft gripper (such as the exemplary deformable soft gripper 5000 described in Example 5) can perform at least four functions: (1) a jam attachment configuration 8100 for gripping an object that may be smaller than the gripper; (2) a suction attachment configuration 8200 for gripping an object that may be larger than the gripper; (3) a deformation from the gripper jam configuration 8400 to the gripper suction configuration 8300 (the first deformation configuration 8301); and (4) a deformation from the gripper suction configuration 8300 to the gripper jam configuration 8400 (the second deformation configuration 8401). In one embodiment, such functions are controlled by an exemplary pneumatic system (such as the exemplary system 7000 described as an example in Example 8).

[0110] Now refer to Figure 8A, to achieve the jam attachment configuration 8100, an exemplary pneumatic system performs a series of actions and steps. First, during the jamming phase 8101, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are all in the "open" state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are respectively configured as the fourth configuration and the eighth configuration), and the exemplary soft gripper 5000 is in its resting state 5000-1, and the contact membrane 5130 is in a flat state. The soft gripper 5000 is configured to be positioned on top of the target object 8107. In this example, the target object 8107 is a spherical object having a size smaller than that of the soft gripper 5000. Next, in the jamming phase 8102, by changing the fourth valve 7230 to the "closed" state (i.e., the main chamber control system is configured as the fifth configuration), a positive first pressure is transmitted to the main chamber 5101, causing the contact membrane 5130 to expand outward into an expanded state. As a result, the jamming particles 5140 fall into the expanded space within the suction cup, causing the soft gripper 5000 to deform from the state 5000-1 to the state 5000-2. Then, in the jamming phase 8103, the second valve 7130 changes to the "closed" state (i.e., the auxiliary chamber control system is configured as the first configuration), causing the auxiliary chamber 5122 to expand toward the main chamber 5101, such that the neck chamber 5121 closes (into a closed state) to prevent the jamming material 5140 from passing through the neck chamber or flowing back into the main chamber 5101. This causes the exemplary soft gripper 5000 to deform to the state 5000-3. In the jamming phase 8104, the soft gripper 5000 descends toward the target object 8107 until the target is fully in contact with the expanded shrinkage membrane and is at least partially surrounded by the jamming particles 5140. The third valve 7220 changes to the "closed" state (i.e., the main chamber control system is configured as the seventh configuration) to maintain the first pressure within the main chamber, and the exemplary soft gripper is maintained in the state 5000-3. In the jamming phase 8105, the fourth valve 7230 changes to the "open" state (i.e., the main chamber control system is configured as the sixth configuration), creating a negative first pressure in the main chamber. This negative pressure presses the jamming particles 5140 toward the target object 8107, providing a stronger grip while also distributing the force more evenly over the surface of the target object. The gripper deforms to the state 5000-4. Finally, in the jamming phase 8106, the fourth valve 7230 changes to the "closed" state (i.e., the main chamber control system is configured as the seventh configuration), such that the first pressure within the main chamber is maintained, and the target object 8107 is attached to the soft gripper, thereby completing the jam attachment and allowing the exemplary soft gripper to effectively manipulate (grasp the target object). In one example, the target object 8107 is a small object having a size smaller than the soft gripper.

[0111] Now refer to Figure 8B, to achieve the adsorption attachment configuration 8200, an exemplary pneumatic system performs a series of actions and steps. First, during the adsorption phase 8201, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are all set to the "open" state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are respectively configured as the fourth configuration and the eighth configuration), and the exemplary soft gripper is in its rest state 5000-1, and the contact membrane is in a flat state. The exemplary soft gripper is configured to be positioned on top of the target object 451. In this example, the target object 8207 is a flat plate-like object having a top surface area larger than that of the contact membrane. Then, in the subsequent adsorption phase 8202, by changing the third valve 7220 to the "closed" state (i.e., the main chamber control system 7200 is configured as the sixth configuration), a negative first pressure is applied to the main chamber, causing the contact membrane to deflate inward to the deflated state. This action pushes the jamming particles into the main chamber, causing the exemplary soft gripper to deform from state 5000-1 to state 5000-5. Next, in the adsorption phase 8203, the second valve 7130 and the fourth valve 7230 become the "closed" state, while the third valve 7220 is set to the "open" state (i.e., the auxiliary chamber control system is configured as the first configuration, and the main chamber control system is configured as the fifth configuration), causing the auxiliary chamber to expand towards the main chamber, closing the neck chamber (into the closed state) to prevent the jamming material from passing through the neck chamber or falling back into the suction cup chamber 5111. The contact membrane expands outward under a relatively small pressure, causing the exemplary soft gripper to deform to state 5000-6. In the adsorption phase 8204, by changing the third valve 7220 to the "closed" state (i.e., the main chamber control system 7200 is configured as the seventh configuration), the first pressure in the main chamber is maintained, and then the exemplary soft gripper descends towards the target object 8207 until the target object 8207 is in full contact with the membrane. In the adsorption phase 8205, the fourth valve 7230 becomes the "open" state (i.e., the main chamber control system is configured as the sixth configuration), creating a negative first pressure in the main chamber, causing the contact membrane to deflate inward to the deflated state, and creating a vacuum space between the contact membrane and the target object 8207, causing the exemplary soft gripper to deform to state 5000-7. Finally, in the adsorption phase 8206, the fourth valve 7230 is switched to the "closed" state (i.e., the main chamber control system is configured as the seventh configuration) to maintain the first pressure in the main chamber, and the target object 8207 is firmly attached to the exemplary soft gripper, completing the adsorption attachment and enabling the exemplary soft gripper to effectively manipulate (grip the target object 8207).

[0112] Now refer to Figure 8C, to effect the transformation from the gripper jamming configuration 8400 to the gripper suction configuration 8300 (as the first transformation configuration 8301), an exemplary pneumatic system performs a series of actions and steps. First, the soft gripper is preset to the jamming state 5000-3, where the first valve 7120 is in the "open" state, the second valve 7130 is in the "closed" state, the third valve 7220 is in the "open" state, and the fourth valve 7230 is in the "closed" state (i.e., the auxiliary chamber control system is configured in the first configuration and the main chamber control system is configured in the fifth configuration). Then, the second valve 7130 is switched to the "open" state (i.e., the auxiliary chamber control system is configured in the fourth configuration), thereby allowing the auxiliary chamber to create a passage for the jamming particles 5140, and the exemplary soft gripper 5000 deforms from the state 5000-3 to the state 5000-2. In another specific implementation, to deform the exemplary soft gripper 5000 from the state 5000-3 to the state 5000-2, the first valve 7120 can be switched to the "closed" state while the second valve 7130 is switched to the "open" state (i.e., the auxiliary chamber control system is configured in the second configuration), and the second pneumatic source generates a negative second pressure on the auxiliary chamber, causing the auxiliary chamber to contract away from the neck chamber, thereby allowing the auxiliary chamber to create a passage for the jamming particles 5140. Next, the third valve 7220 becomes the "closed" state, and the fourth valve 7230 becomes the "open" state (i.e., the main chamber control system of the pneumatic system is in the sixth configuration), and a negative first pressure is applied to the main chamber, causing the contact membrane to collapse inward to the collapsed state. This action pushes the jamming particles into the main chamber, causing the exemplary soft gripper to deform from the state 5000-2 to the state 5000-5. Finally, the second valve 7130 becomes the "closed" state, and the third valve 7220 becomes the "open" state (i.e., the auxiliary chamber control system is configured in the first configuration and the main chamber control system is configured in the eighth configuration), causing the neck chamber to close (to the closed state) to prevent the jamming material from passing through the neck chamber or falling back into the suction cup chamber. The exemplary soft gripper deforms from the state 5000-5 to the state 5000-6. At this time, the exemplary soft gripper is ready for adsorption-based grasping.

[0113] Now refer to Figure 8D, to achieve the deformation from the gripper adsorption configuration 8300 to the gripper jamming configuration 8400 (the second deformation configuration 8401), the exemplary pneumatic system needs to take a series of actions. First, the exemplary soft gripper is in the adsorption state 5000-6, where the first valve 7120 is in the "open" state, the second valve 7130 is in the "closed" state, the third valve 7220 is in the "open" state, and the fourth valve 7230 is in the "open" state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are respectively configured as the first configuration and the eighth configuration). This process begins with changing the second valve 7130 to the "open" state (i.e., the auxiliary chamber control system is configured as the fourth configuration), such that the second pressure in the auxiliary chamber and the first pressure in the main chamber are substantially equal to the atmospheric pressure, and the auxiliary chamber 5122 contracts away from the neck chamber 5121 to the open state, thereby allowing the jamming material 5140 to pass through the neck chamber. This causes the exemplary soft gripper to deform from state 5000-6 to state 5000-1. Subsequently, by changing the fourth valve 7230 to the "closed" state (i.e., the main chamber control system is configured as the fifth configuration), a positive first pressure is generated in the main chamber, causing the contact membrane to expand outward to the expanded state, thereby allowing the jamming particles to fall into the expanded space. The exemplary soft gripper deforms from state 5000-1 to state 5000-2. During the jamming phase, the second valve 7130 changes to the "closed" state (i.e., the auxiliary chamber control system is configured as the first configuration), thereby generating a positive second pressure in the auxiliary chamber, causing these chambers to expand toward the neck chamber, thereby closing the neck chamber to the closed state to prevent the jamming material from passing through the neck chamber and flowing back into the main chamber. Thus, the exemplary soft gripper deforms to state 5000-3, thereby preparing it for jamming-based grasping. Example 10

[0114] In this example, an embodiment of the exemplary deformable soft gripper 5000 as described in Example 6, its manufacturing method as described in Example 7, the pneumatic system 7000 for controlling the soft gripper 5000 as described in Example 8, and the method for controlling the soft gripper 5000 as described in Example 9 will be described in more detail herein. For the sake of brevity, the structures or features similar to the previous examples will not be repeated.

[0115] Exemplary soft gripper

[0116] Reference Figure 5A and Figure 5B, the exemplary soft gripper 5000 generally includes a body 5100 and a contact film 5130. The body 5100 includes a suction cup portion 5110, and a neck portion 5120 extends from the suction cup portion 5110 and defines a neck chamber 5121 therein. A suction cup chamber is defined in the suction cup portion 5110. The neck chamber 5121 and the suction cup chamber together form a main chamber 5101 defined by the body 5100 and the contact film 5130. The neck chamber 5121 contains or is connected to a main chamber air tube 5200. The neck portion 5120 contains two separate auxiliary chambers 5122, and each auxiliary chamber 5122 contains or is connected to an auxiliary chamber air tube 5300 to connect to the neck chamber 5121. All these components are made of flexible materials:

[0117] In this example, the main chamber air tube 5200 is about 100 mm long and made of thermoplastic polyurethane (TPU).

[0118] In this example, the two auxiliary chamber air tubes 5300 are about 100 mm long and made of TPU.

[0119] In this example, the body 5100 is in the form of an inverted funnel and is substantially made of DragonSkin 30. The smaller end of the funnel has a diameter of about 15 mm, and the larger end of the funnel has a diameter of about 20 mm. The diameter of the main chamber 5101 is about 8 mm.

[0120] In this example, the suction cup portion 5110 is a flexible concave cup-shaped member made of TPU. The overall shape of this portion is similar to a cone and has a vertical extension in the widening direction of the cone.

[0121] In this example, the contact film 5130 is a cylindrical film with a diameter of about 20 mm and a thickness of about 1.15 mm. The contact film 5130 is made of Ecoflex-0030 TM and made. For example, the contact film 5130 can have various patterns or designs on its surface, including but not limited to bumps, pits, and coatings of different materials.

[0122] Exemplary manufacturing method

[0123] Reference Figures 6A through 6C , the exemplary manufacturing method of the exemplary soft gripper 5000 generally includes 3 steps:

[0124] Step 1: Manufacturing the main body using the main body molds generally includes a lower main body mold 6100 for forming the lower main body 5150 and an upper main body mold 6200 for forming the upper main body 5160 (or upper part). The lower main body mold 6100 generally includes a top holder 6102, a closing cap 6101, a left outer shell 6106, a left inner shell 6105, a right outer shell 6104, a right inner shell 6103, and a base mold 6107. Pour the first flexible material into the lower main body mold 6100, and then the first flexible material cures into the lower main body 5150. And pour the first flexible material into the upper main body mold 6200, and then the first flexible material cures into the cap of the lower main body 5150 or the upper main body 5160 to form the main body 5100.

[0125] Step 2: Provide the contact film 5130 by providing a film mold 6001 sized and shaped to form the contact film 5130, and cure a second flexible material that is more flexible than the first flexible material into the film mold 6001.

[0126] Step 3: Attach or adhere the contact film 5130 to the main body 5100 using, for example, a silicone rubber adhesive to seal the bottom opening of the lower main body 5150. Additionally or alternatively, attach or adhere the main chamber air tube 5200 and the auxiliary chamber air tube 5300 to the top opening of the main body 5100 using, for example, a silicone rubber adhesive to connect to the main chamber and the auxiliary chamber respectively. Then, fill an appropriate amount of plugging particles 5140 into the main chamber air tube 5200.

[0127] In this example, the lower main body mold 6100 in Step 1 is made by assembling the SLA-3D printed top holder 6102, the SLA-3D printed closing cap 6101, the SLA-3D printed left outer shell 6106, the SLA-3D printed left inner shell 6105, the SLA-3D printed right outer shell 6104, and the SLA-3D printed right inner shell 6103. The first flexible material used is about 15g of DragonSkin 30 TM silicone gel, which is poured through the top opening of the top holder 6102, and the lower main body mold 6100 is left standing in a vacuum environment for about 20 minutes. After about 20 minutes, the lower main body mold 6100 is taken out of the vacuum environment. The lower main body mold 6100 is left standing for 16 hours to allow the DragonSkin 30 TM silicone rubber to cure into the lower main body 5150. Then, the lower main body mold 6100 is removed.

[0128] In this example, the first flexible material used to fill the upper main body mold 6200 in Step 1 is about 5g of DragonSkin 30 TMSilicone rubber (Smooth-On, Inc.). Then, the filled upper body mold 6200 is left stationary in a vacuum environment for about 20 minutes. After said time, the upper body mold 6200 is removed from the vacuum environment, and the upper body 5160 is attached to the bottom of the upper body mold 6200. They are left stationary for about 4 hours to allow DragonSkin 30 TM silicone rubber to cure into the cap of the lower body 5150 and become the body 5100. Then, the upper body mold 6200 is removed from the body 5100.

[0129] In this example, the second flexible material used to fill the membrane mold 6001 in step 2 is about 2 g of Ecoflex-0030 TM silicone rubber. Then, the filled membrane mold 6001 is placed in a vacuum environment for 5 minutes. After said time period, the membrane mold 6001 is removed from the vacuum chamber and left stationary for 4 hours to allow Ecoflex-0030 TM silicone rubber to cure and form the contact membrane 5130.

[0130] In this example, the silicone rubber adhesive used in step 3 is the silicone rubber adhesive Sil-Poxy TM . The plugging particles 5140 used are about 10 g of dry coffee grounds, which are filled into the main chamber air tube 5200 once the adhesive has cured.

[0131] Exemplary pneumatic control system and method

[0132] Reference Figure 5A 、 Figure 5B 、and Figure 7, the exemplary pneumatic control system 7000 generally includes two control systems, namely the auxiliary chamber control system 7100 and the main chamber control system 7200. The auxiliary chamber control system 7100 is directly or indirectly connected and / or in air communication with the auxiliary chamber 5122, for example, through the auxiliary chamber air pipe 5300, and is configured to provide and control the second pressure in the auxiliary chamber 5122. The auxiliary chamber control system 7100 generally includes a second pneumatic source 7110, a first valve 7120, a second valve 7130, and a pressure gauge 7180, and these valves are configured to be able to switch between an open state and a closed state. The open state and the closed state of the first valve 7120 and the second valve 7130 control the deflation or contraction of the auxiliary chamber 5122, open the neck chamber 5121 to the open state, and allow the plugging material 5140 to pass through the neck chamber 5121 of the main chamber 5101; expand or dilate toward the neck chamber 5121 of the main chamber 5101, thereby closing the neck chamber 5121 to the closed state to effectively prevent the plugging particles 5140 from passing through the main chamber 5101. The main chamber control system 7200 generally includes a first pneumatic source 7210, a third valve 7220, a fourth valve 7230, and a pressure gauge 7280, and these valves are configured to be able to switch between an open state and a closed state. The open state and the closed state of the third valve 7220 and the fourth valve 7230 control the transfer of the positive first pressure to the main chamber 5101, which causes the contact membrane 5130 to expand outward to the expanded state or deflate inward to the deflated state.

[0133] In different industrial production or underwater object recovery scenarios, actuators often face many challenges. These challenges include having to operate both on the water surface and underwater, or requiring the removal of larger objects or debris first, and then picking up smaller target objects.

[0134] Now refer to Figure 5A , Figure 5B , Figure 7 , Figure 8B , and Figure 9, shows an exemplary control scheme for an exemplary soft gripper 5000 that can handle complex situations of target objects with different sizes and shapes in different media. In this example, the soft gripper 5000 is operably connected to a robotic end effector. A plurality of target objects are placed in a container and immersed in water. In this container, a mung bean 903 (with a diameter of about 2.4 mm; target object #3) and a pear 902 (with a diameter of about 75 mm and a height of about 67.5 mm; target object #2) are placed inside an acrylic box 900, which is closed with a lid 901 (target object #1). In this example, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are initially all configured in the "open" state (A) (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are respectively configured in the fourth configuration and the eighth configuration). The soft gripper 5000 is in its resting state 5000-1 and is placed on top of an acrylic box 900 that is about 15 cm × 15 cm. Then, during the adsorption phase 8202, the third valve 7220 is switched to the "closed" state (i.e., the main chamber control system is configured in the sixth configuration), allowing a pressure of -25 kPa to be transmitted to the main chamber 5101. This action causes the contact membrane 5130 to deflate inward, pushing the jamming particles 5140 into the main chamber 5101. The soft gripper 5000 deforms from state 5000-1 to state 5000-5. Subsequently, the second valve 7130 and the fourth valve 7230 become "closed", while the third valve 7220 becomes "open" (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are respectively configured in the first configuration and the fifth configuration). This causes the auxiliary chamber 5122 to expand towards the main chamber 5101, preventing the jamming particles 5140 from falling back into the suction cup 104. The contact membrane 5130 expands outward under a pressure of 2 kPa, deforming the soft gripper 5000 to state 5000-6. During the next stage, in the adsorption phase 8204, the soft gripper 5000-6 descends towards the acrylic box 900 until the acrylic box 900 is in full contact with the membrane 5130. The third valve 7220 becomes "closed", while the fourth valve 7230 becomes "open" (i.e., the main chamber control system is configured in the sixth configuration), allowing a pressure of -25 kPa to be transmitted to the main chamber 5101. This pressure creates a vacuum space between the contact membrane 5130 and the acrylic box 900. This deformation causes the soft gripper 5000 to become state 5000-7. Finally, the fourth valve 7230 becomes "closed" (i.e., the main chamber control system is configured in the seventh configuration), allowing the target object #1 (lid 901) to adhere to the soft gripper 5000 (B). The soft gripper 5000 removes the target object #1 (the top of the acrylic box 900 or the lid 901) (C).After this action, the soft gripper 5000 deforms from the gripper adsorption configuration 8300 to the gripper jamming configuration 8400 (the second deformation configuration 8401). The second valve 7130 changes to the "closed" state (i.e., the auxiliary chamber control system is configured in the first configuration), causing the auxiliary chamber 5122 to expand towards the main chamber 5101, thereby preventing the jamming particles 5140 from flowing back into the main chamber 5101. This deformation changes the soft gripper 5000 to state 5000-3. Then, the soft gripper 5000 moves downward within the acrylic box 900 towards a pear 902 (target object #2) having a diameter of approximately 75 mm. The gripper continues its operation until the pear 902 is completely surrounded by the jamming particles 5140 (D). Subsequently, the fourth valve 7230 changes to the "open" state (i.e., the main chamber control system is configured in the sixth configuration), thereby applying a pressure of -25 kPa to the main chamber 5101. This squeezes the jamming particles 5140 towards the target object #2 (pear 902) and deforms the soft gripper 5000 to state 5000-4. Finally, the fourth valve 7230 changes to the "closed" state (i.e., the main chamber control system is configured in the seventh configuration), thereby fixing the target object #2 (pear 902) to the soft gripper 5000 in state 5000-4 (E). The soft gripper 5000 is attached to the pear 902 and removes it from the acrylic box 900, thereby exposing the target object #3 (mung bean 903). After removing the larger target object #2 (pear 902), the target object #3 (mung bean 903) is subsequently removed from the acrylic box 900 in the same second deformation configuration 8401 (F).

[0135] The exemplary embodiments of the present invention have thus been fully described. Although the description refers to specific embodiments, those skilled in the art will appreciate that the present invention can be implemented with variations of these specific details. Therefore, the present invention should not be construed as limited to the embodiments set forth herein.

[0136] For example, the components of the soft gripper (such as the neck portion, suction cup portion, jamming particles, and contact membrane) can have different numbers, sizes, (regular or irregular) shapes, configurations, and be made of different materials.

[0137] For example, the soft gripper can be manufactured by other available processes, means, or methods in the art.

[0138] For example, in some examples, an exemplary pneumatic control system has been described, but the auxiliary chamber and the main chamber of the soft gripper can be controlled by other pneumatic control systems.

[0139] For example, in some examples, 2 / 3-way electric valves are used in the system, but other (same or different) suitable valves available in the art can be used alternatively.

[0140] For example, in some examples, an air compressor is used in the system, but alternatively, other pneumatic sources available in the art can be used.

[0141] For example, in some examples, plugging particles are used in the soft gripper, but other forms of plugging materials of different sizes, shapes, materials, and amounts can be used, such as powders, granules, beads, flakes, etc., and combinations thereof.

[0142] For example, in some examples, the body is formed by providing a lower body and then an upper body, but alternatively, other sequences or other methods of forming the body known in the art can be used. Numbered Embodiments Group 1

[0143] Example 1. A soft gripper having a proximal side and a distal side, comprising: a body including a suction cup portion having an open end at the proximal side; and a neck portion connected to or extending from the suction cup portion; and a contact membrane configured to seal the open end, wherein a neck chamber is included in the neck portion and a suction cup chamber is included in the suction cup portion, the neck chamber and the suction cup chamber together form a main chamber configured to be in gas communication with a first pneumatic source and receive plugging material, and wherein at least one auxiliary chamber is further included in the neck portion, each auxiliary chamber being disposed around the neck portion and configured to be in gas communication with a second pneumatic source.

[0144] Example 2. The soft gripper according to Example 1, wherein, under the control of the first pneumatic source, the contact membrane is capable of deforming between an inflated state, a flat state, and a deflated state, and wherein, under the control of the second pneumatic source, the neck chamber is capable of deforming at least between an open state and a closed state such that the soft gripper is configured to be capable of switching at least between a gripper adsorption configuration and a gripper plugging configuration.

[0145] Example 3. The soft gripper according to any one of the preceding examples, further comprising a main chamber air tube for gas communication between the main chamber and the first pneumatic source; and at least one auxiliary chamber air tube for gas communication between the at least one auxiliary chamber and the second pneumatic source.

[0146] Example 4. The soft gripper according to any one of the preceding examples, wherein the body includes an upper portion and a lower portion connected to each other.

[0147] Example 5. A method for manufacturing a soft gripper as described in any one of the foregoing examples, comprising the following steps: (1) providing a body mold sized and shaped to form the body, and curing a first flexible material into the body mold to form the body; (2) providing a membrane mold sized and shaped to form the contact membrane, and curing a second flexible material having a greater flexibility than the first flexible material into the membrane mold to form the membrane; and (3) attaching the contact membrane to the body to form the soft gripper.

[0148] Example 6. The method according to Example 5, wherein the body comprises an upper portion and a lower portion, and wherein step (1) comprises the following steps: (a) providing a first body mold for the lower portion, introducing a first flexible material into the first body mold, and curing the flexible material to form the upper portion; and (b) providing a second body mold for the upper portion, introducing a first flexible material into the second body mold, setting the upper portion into the second body mold, and curing the flexible material to form the upper portion onto the lower portion such that the body is formed.

[0149] Example 7. The method according to Example 6, further comprising the steps of attaching a main chamber air tube and at least one auxiliary chamber air tube to the main chamber and the at least one auxiliary chamber, respectively.

[0150] Example 8. The method according to any one of Examples 5 to 7, wherein the first flexible material is selected from the group consisting of: rubber, silicone rubber (e.g., Dragon Skin 0030, Dragon Skin 0010, RTV silicone rubber), and combinations thereof; the second flexible material is selected from the group consisting of: rubber, silicone rubber (e.g., Dragon Skin 0030, Dragon Skin 0010, RTV silicone rubber), and combinations thereof; and / or the adhesive is selected from the group consisting of: silicone rubber adhesive, sil-Poxy, dopamine-based adhesive nano-coating, hyaluronic acid hydrogel adhesive, and combinations thereof.

[0151] Example 9. The method according to any one of Examples 5 to 8, further comprising the steps of attaching the main chamber air tube and the at least one auxiliary chamber air tube to the main chamber and the auxiliary chamber, respectively; and / or providing a plugging material into the main chamber.

[0152] Embodiment 10. A pneumatic system for controlling a soft gripper as described in any one of Embodiments 1 to 4, comprising: an auxiliary chamber control system, the auxiliary chamber control system including: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system, the main chamber control system including: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

[0153] Embodiment 11. The pneumatic system as described in Embodiment 10, wherein the first valve, the second valve, the third valve, and / or the fourth valve is a 2 / 3-way electric valve capable of switching between an open state and a closed state.

[0154] Example 12. The pneumatic system as described in Example 10 or Example 11, wherein the auxiliary chamber control system includes a first configuration, a second configuration, a third configuration, and a fourth configuration, wherein the first configuration includes the first valve being configured in an open state and the second valve being configured in a closed state, and the second pneumatic source generates a positive second pressure on the at least one auxiliary chamber, such that the at least one auxiliary chamber expands toward the neck chamber, thereby closing the neck chamber to a closed state to prevent the plugging material from passing through the neck chamber; wherein the second configuration includes the first valve being configured in a closed state and the second valve being configured in an open state, and the second pneumatic source generates a negative second pressure on the at least one auxiliary chamber, such that the at least one auxiliary chamber contracts away from the neck chamber to an open state, thereby allowing the plugging material to pass through the neck chamber; wherein the third configuration includes the first valve and the second valve being configured in the closed state, and the second pressure in the auxiliary chamber is maintained; and wherein the fourth configuration includes the first valve and the second valve being configured in the open state, and the second pressure in the at least one auxiliary chamber is substantially equal to the atmospheric pressure; and wherein the main chamber control system includes a fifth configuration, a sixth configuration, a seventh configuration, and an eighth configuration, wherein the fifth configuration includes the third valve being configured in an open state and the fourth valve being configured in a closed state, and the first pneumatic source generates a positive first pressure on the main chamber, such that the contact membrane expands outward to an expanded state; wherein the sixth configuration includes the third valve being configured in a closed state and the fourth valve being configured in an open state, and the first pneumatic source generates a negative first pressure on the main chamber, such that the contact membrane shrinks inward to a shrunk state; wherein the seventh configuration includes the third valve and the fourth valve being configured in the closed state, and the first pressure in the main chamber is maintained; and wherein the eighth configuration includes the third valve and the fourth valve being configured in the open state, and the first pressure in the main chamber is substantially equal to the atmospheric pressure.

[0155] Example 13. A method of using the pneumatic system as described in Example 12 to control the soft gripper as described in any one of Examples 1 to 4, the method including one or more of the following steps: (i) gripping a target object in a plugging attachment configuration; (ii) gripping a target object in a suction attachment configuration; (iii) deforming from the plugging attachment configuration to the suction attachment configuration; and / or (iv) deforming from the gripper suction configuration to the gripper plugging configuration.

[0156] Example 14. The method as described in Example 13, wherein step (i) includes the following steps: (i-i) configuring the auxiliary chamber control system into the fourth configuration and configuring the main chamber control system into the eighth configuration such that the soft gripper is in a resting state; (i-ii) configuring the main chamber control system into the fifth configuration such that the contact membrane expands outward into the expanded state; (i-iii) positioning the soft gripper adjacent to the target object until the target object is in full contact with the expanded contact membrane; (i-iv) configuring the auxiliary chamber control system into the first configuration such that the neck chamber closes into the closed state to prevent the plugging material from passing through the neck chamber; (i-v) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained; (i-vi) configuring the main chamber control system into the sixth configuration to create a negative first pressure in the main chamber; and (i-vii) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained, thereby performing plugging attachment for gripping the target object.

[0157] Example 15. The method as described in Example 13, wherein step (ii) includes the following steps: (ii-i) configuring the auxiliary chamber control system into the fourth configuration and configuring the main chamber control system into the eighth configuration such that the soft gripper is in a resting state; (ii-ii) configuring the main chamber control system into the sixth configuration such that the contact membrane collapses inward into the collapsed state; (ii-iii) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the fifth configuration such that the neck chamber is closed into the closed state to prevent the plugging material from passing through the neck chamber, and the contact membrane expands outward into the expanded state; (ii-iv) positioning the soft gripper adjacent to the target object until the target object is in full contact with the contact membrane; (ii-v) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained; (ii-vi) configuring the main chamber control system into the sixth configuration such that the contact membrane collapses inward into the collapsed state; and (ii-vii) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained, thereby performing adsorption attachment for gripping the target object.

[0158] Example 16. The method as described in Example 13, wherein step (iii) includes the following steps: (iii-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the fifth configuration; (iii-ii) configuring the auxiliary chamber control system into the fourth configuration such that the neck chamber opens; (iii-iii) configuring the main chamber into the sixth configuration such that the contact membrane retracts inwardly into the retracted state, whereby the plugging material is pushed into the main chamber; and (iii-iv) configuring the auxiliary chamber into the first configuration and configuring the main chamber into the eighth configuration such that the neck chamber closes into the closed state to prevent the plugging material from passing through the neck chamber, thereby deforming from the plugging attachment configuration to the adsorption attachment configuration.

[0159] Example 17. The method as described in Example 13, wherein step (iv) includes the following steps: (iv-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the eighth configuration; (iv-ii) configuring the auxiliary chamber control system into the fourth configuration such that the path for the plugging particles in the auxiliary chamber opens; (iv-iii) configuring the main chamber control system into the fifth configuration such that the contact membrane expands outwardly into the expanded state; (iv-iv) configuring the auxiliary chamber into the first configuration such that the neck chamber closes into the closed state to prevent the plugging material from passing through the neck chamber. Group 2

[0160] Example 1. A soft gripper having a proximal side and a distal side, comprising: a body including a suction cup portion having an open end at the proximal side; and a neck portion connected to or extending from the suction cup portion; and a contact membrane configured to seal the open end, wherein a neck chamber is included in the neck portion and a suction cup chamber is included in the suction cup portion, the neck chamber and the suction cup chamber together forming a main chamber configured to be in gas communication with a first pneumatic source and to receive plugging material, and wherein at least one auxiliary chamber is further included in the neck portion, each auxiliary chamber being disposed around the neck chamber and configured to be in gas communication with a second pneumatic source.

[0161] Example 2. The soft gripper as described in Example 1, wherein, under the control of the first pneumatic source, the contact film is capable of deforming between an inflated state, a flat state, and a deflated state, and wherein, under the control of the second pneumatic source, the neck chamber is capable of deforming at least between an open state and a closed state, such that the soft gripper is configured to be capable of switching at least between a gripper adsorption configuration and a gripper jamming configuration.

[0162] Example 3. The soft gripper as described in any one of the foregoing examples, further comprising a main chamber air tube that enables gas communication between the main chamber and the first pneumatic source; and at least one auxiliary chamber air tube that enables gas communication between the at least one auxiliary chamber and the second pneumatic source.

[0163] Example 4. The soft gripper as described in any one of the foregoing examples, wherein the body is made of a first flexible material, and the contact film is made of a second flexible material, wherein the first flexible material and / or the second flexible material are selected from the group consisting of: rubber, silicone rubber, and combinations thereof; and wherein the second flexible material is more flexible than the first flexible material.

[0164] Example 5. The soft gripper as described in Example 4, wherein the first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof; and / or the second flexible material is selected from the group consisting of: Ecoflex 30, Ecoflex 10, and combinations thereof.

[0165] Example 6. A method for manufacturing a soft gripper as described in any one of the foregoing examples, comprising the steps of: (1) providing a body mold sized and shaped to form the body, and curing a first flexible material into the body mold to form the body; (2) providing a film mold sized and shaped to form the contact film, and curing a second flexible material into the film mold to form the film; and (3) attaching the contact film to the body to form the soft gripper.

[0166] Example 7. The method as described in Example 6, wherein the body includes an upper portion and a lower portion, and wherein step (1) includes the following steps: (a) providing a lower body mold for the lower portion, introducing a first flexible material into the lower body mold, and curing the flexible material to form the lower portion; and (b) providing an upper body mold for the upper portion, introducing the first flexible material into the second body mold, disposing the lower portion into the second body mold, and curing the first flexible material to form the upper portion onto the lower portion, such that the body is formed.

[0167] Example 8. The method as described in Example 7, which further includes the following steps: attaching or inserting a main chamber air tube and at least one auxiliary chamber air tube to the main chamber and the at least one auxiliary chamber, respectively.

[0168] Example 9. The method as described in any one of Examples 6 to 8, wherein the first flexible material and / or the second flexible material are selected from the group consisting of: rubber, silicone rubber, and combinations thereof; and wherein the second flexible material is more flexible than the first flexible material.

[0169] Example 10. The method as described in any one of Examples 6 to 9, wherein the first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof, and / or the second flexible material is selected from the group consisting of: Ecoflex 30 or Ecoflex 10.

[0170] Example 11. The method as described in any one of Examples 6 to 10, wherein the step (3) of attaching the contact film to the body is performed using an adhesive selected from the group consisting of: silicone rubber adhesive, sil-Poxy, dopamine-based adhesive nano-coating, hyaluronic acid hydrogel adhesive, and combinations thereof.

[0171] Example 12. The method as described in any one of Examples 6 to 11, which further includes the following steps: attaching the main chamber air tube and the at least one auxiliary chamber air tube to the main chamber and the auxiliary chamber, respectively; and / or providing a plugging material into the main chamber.

[0172] Example 13. A pneumatic system for controlling a soft gripper as described in any one of Examples 1 to 5, comprising: an auxiliary chamber control system, the auxiliary chamber control system including: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system, the main chamber control system including: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

[0173] Example 14. The pneumatic system according to Example 13, wherein the first valve, the second valve, the third valve, and / or the fourth valve is a 2 / 3-way electric valve capable of switching between an open state and a closed state.

[0174] Example 15. The pneumatic system as described in Example 13 or Example 14, wherein the auxiliary chamber control system includes a first configuration, a second configuration, a third configuration, and a fourth configuration, wherein the first configuration includes the first valve being configured in an open state and the second valve being configured in a closed state, and the second pneumatic source generates a positive second pressure on the at least one auxiliary chamber, such that the at least one auxiliary chamber expands toward the neck chamber, thereby closing the neck chamber to a closed state to prevent the plugging material from passing through the neck chamber; wherein the second configuration includes the first valve being configured in a closed state and the second valve being configured in an open state, and the second pneumatic source generates a negative second pressure on the at least one auxiliary chamber, such that the at least one auxiliary chamber contracts away from the neck chamber to an open state, thereby allowing the plugging material to pass through the neck chamber; wherein the third configuration includes the first valve and the second valve being configured in the closed state, and the second pressure in the auxiliary chamber is maintained; and wherein the fourth configuration includes the first valve and the second valve being configured in the open state, and the second pressure in the at least one auxiliary chamber is substantially equal to the atmospheric pressure; and wherein the main chamber control system includes a fifth configuration, a sixth configuration, a seventh configuration, and an eighth configuration, wherein the fifth configuration includes the third valve being configured in an open state and the fourth valve being configured in a closed state, and the first pneumatic source generates a positive first pressure on the main chamber, such that the contact membrane expands outward to an expanded state; wherein the sixth configuration includes the third valve being configured in a closed state and the fourth valve being configured in an open state, and the first pneumatic source generates a negative first pressure on the main chamber, such that the contact membrane shrinks inward to a shrunk state; wherein the seventh configuration includes the third valve and the fourth valve being configured in the closed state, and the first pressure in the main chamber is maintained; and wherein the eighth configuration includes the third valve and the fourth valve being configured in the open state, and the first pressure in the main chamber is substantially equal to the atmospheric pressure.

[0175] Example 16. A method of using the pneumatic system as described in Example 15 to control the soft gripper as described in any one of Examples 1 to 5, the method including one or more of the following steps: (i) gripping a target object in a plugging attachment configuration; (ii) gripping a target object in a suction attachment configuration; (iii) deforming from the plugging attachment configuration to the suction attachment configuration; and / or (iv) deforming from the gripper suction configuration to the gripper plugging configuration.

[0176] Example 17. The method as described in Example 16, wherein step (i) includes the following steps: (i-i) configuring the auxiliary chamber control system into the fourth configuration and configuring the main chamber control system into the eighth configuration such that the soft gripper is in the resting state; (i-ii) configuring the main chamber control system into the fifth configuration such that the contact membrane expands outward into the expanded state; (i-iii) configuring the auxiliary chamber control system into the first configuration such that the neck chamber closes into the closed state to prevent the plugging material from passing through the neck chamber; (i-iv) positioning the soft gripper adjacent to the target object until the target object is in full contact with the expanded contact membrane; (i-v) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained; (i-vi) configuring the main chamber control system into the sixth configuration, thereby generating a negative first pressure in the main chamber; and (i-vii) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained, thereby performing a plugging attachment for gripping the target object.

[0177] Example 18. The method as described in any one of Examples 16 to 17, wherein step (ii) includes the following steps: (ii-i) configuring the auxiliary chamber control system into the fourth configuration and configuring the main chamber control system into the eighth configuration such that the soft gripper is in the resting state; (ii-ii) configuring the main chamber control system into the sixth configuration such that the contact membrane deflates inward into the deflated state; (ii-iii) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the fifth configuration such that the neck chamber is closed into the closed state to prevent the plugging material from passing through the neck chamber, and the contact membrane expands outward into the expanded state; (ii-iv) positioning the soft gripper adjacent to the target object until the target object is in full contact with the contact membrane; (ii-v) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained; (ii-vi) configuring the main chamber control system into the sixth configuration such that the contact membrane deflates inward into the deflated state; and (ii-vii) configuring the main chamber control system into the seventh configuration such that the first pressure within the main chamber is maintained, thereby performing an adsorption attachment for gripping the target object.

[0178] Example 19. The method according to any one of Examples 16 to 18, wherein step (iii) comprises the following steps: (iii-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the fifth configuration; (iii-ii) configuring the auxiliary chamber control system into the fourth configuration or the sixth configuration such that the neck chamber is opened; (iii-iii) configuring the main chamber into the sixth configuration such that the contact membrane is retracted inwardly into the retracted state, whereby the plugging material is pushed into the main chamber; and (iii-iv) configuring the auxiliary chamber into the first configuration and configuring the main chamber into the eighth configuration such that the neck chamber is closed into the closed state to prevent the plugging material from passing through the neck chamber, thereby deforming from the plugging attachment configuration to the adsorption attachment configuration.

[0179] Example 20. The method according to any one of Examples 16 to 19, wherein step (iv) comprises the following steps: (iv-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the eighth configuration; (iv-ii) configuring the auxiliary chamber control system into the fourth configuration such that the path for the plugging particles in the auxiliary chamber is opened; (iv-iii) configuring the main chamber control system into the fifth configuration such that the contact membrane expands outwardly into the expanded state; (iv-iv) configuring the auxiliary chamber into the first configuration such that the neck chamber is closed into the closed state to prevent the plugging material from passing through the neck chamber.

Claims

1. A soft gripper having a proximal side and a distal side, comprising: A subject, the subject comprising a suction cup portion including an open end at the proximal side; as well as a neck portion connected to or extending from the suction cup portion; and a contact film configured to seal the open end, wherein the neck portion includes a neck chamber therein and the suction cup portion includes a suction cup chamber therein, the neck chamber and the suction cup chamber together forming a main chamber, the main chamber being configured to be in gas communication with a first pneumatic source and to receive a jamming material, and The neck portion further comprises at least one auxiliary chamber, each auxiliary chamber being arranged around the neck chamber and being configured to be in gas communication with a second pneumatic source.

2. The soft gripper according to claim 1, wherein: Under the control of the first pneumatic source, the contact membrane is deformable between an expanded state, a flat state and a deflated state, and Wherein, under the control of the second pneumatic source, the neck chamber can be deformed at least between an open state and a closed state, so that the soft clamp is constructed to be able to switch at least between a clamp adsorption configuration and a clamp jam configuration.

3. The soft gripper of claim 1, further comprising a main chamber air tube, the main chamber air tube providing pneumatic communication between the main chamber and the first pneumatic source; and At least one auxiliary chamber air tube, the at least one auxiliary chamber air tube allows pneumatic communication between the at least one auxiliary chamber and the second pneumatic source.

4. The soft gripper according to claim 1, wherein: The main body is made of a first flexible material, and the contact membrane is made of a second flexible material, wherein the first flexible material and / or the second flexible material is selected from the group consisting of: rubber, silicone rubber, and a combination thereof; and wherein the flexibility of the second flexible material is greater than that of the first flexible material.

5. The soft gripper according to claim 4, wherein: The first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof; and / or The second flexible material is selected from the group consisting of Ecoflex 30, Ecoflex 10, and combinations thereof.

6. A method for manufacturing the soft gripper as claimed in claim 4, comprising the following steps: (1) providing a main body mold having a size and shape set to form the main body, and curing a first flexible material into the main body mold to form the main body; (2) providing a film mold having a size and shape set to form the contact film, and curing a second flexible material into the film mold to form the film; as well as (3) Attaching the contact film to the body to form the soft gripper.

7. The method of claim 6, wherein: The main body comprises an upper part and a lower part, Wherein, the step (1) comprises the following steps: (a) providing a lower body mold for the lower portion, and introducing a first flexible material into the lower body mold, and curing the flexible material, thereby forming the lower portion; and (b) providing an upper body mold for the upper part, introducing a first flexible material into a second body mold, setting the lower part to the second body mold, and curing the first flexible material to form the upper part onto the lower part, so as to form the body.

8. The method of claim 7, wherein: Further comprising the steps of: A main chamber air tube and at least one auxiliary chamber air tube are attached or inserted into the main chamber and the at least one auxiliary chamber, respectively.

9. The method of claim 6, wherein: The first flexible material and / or the second flexible material are selected from the group consisting of: rubber, silicone rubber, and combinations thereof; and wherein the second flexible material is more flexible than the first flexible material.

10. The method of claim 6, wherein: The first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof, and / or the second flexible material is selected from the group consisting of: Ecoflex 30 or Ecoflex 10.

11. The method of claim 6, wherein: The step (3) of attaching the contact film to the body is performed using an adhesive selected from the group consisting of silicone rubber adhesive, sil-Poxy, dopamine-based adhesive nanocoating, hyaluronic acid hydrogel adhesive, and combinations thereof.

12. The method of claim 6, wherein: Further comprising the steps of: attaching the main chamber air tube and the at least one auxiliary chamber air tube to the main chamber and the auxiliary chamber, respectively; and / or A plugging material is provided into the main chamber.

13. A pneumatic system for controlling the soft gripper as claimed in claim 1, comprising: An auxiliary chamber control system, the auxiliary chamber control system comprising: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and A main chamber control system, the main chamber control system comprising: a first pneumatic source configured to provide a first pressure; a third valve connected between the outlet of the first pneumatic source and the main chamber; and A fourth valve is connected between the inlet of the first pneumatic source and the main chamber.

14. The pneumatic system of claim 13, wherein: The first valve, the second valve, the third valve, and / or the fourth valve are 2 / 3-way electric valves that can be switched between an open state and a closed state.

15. The pneumatic system of claim 13, wherein: The auxiliary chamber control system includes a first configuration, a second configuration, a third configuration, and a fourth configuration. Wherein, the first configuration includes the first valve being configured to be in an open state and the second valve being configured to be in a closed state, the second pneumatic source generating a positive second pressure to the at least one auxiliary chamber, so that the at least one auxiliary chamber expands toward the neck chamber, thereby closing the neck chamber to a closed state, so as to prevent the jam material from passing through the neck chamber; wherein the second configuration includes the first valve being configured to be in a closed state and the second valve being configured to be in an open state, and the second pneumatic source generating a negative second pressure on the at least one auxiliary chamber, so that the at least one auxiliary chamber contracts away from the neck chamber to an open state, thereby allowing the extrusion material to pass through the neck chamber; The third configuration includes the first valve and the second valve being configured in the closed state, and the second pressure in the auxiliary chamber being maintained; and wherein the fourth configuration includes the first valve and the second valve being configured in the open state, the second pressure in the at least one auxiliary chamber being substantially equal to atmospheric pressure; and Wherein, the main chamber control system includes the fifth configuration, the sixth configuration, the seventh configuration, and the eighth configuration. Wherein, the fifth configuration includes the third valve being configured to be in an open state and the fourth valve being configured to be in a closed state, and the first pneumatic source generating a positive first pressure on the main chamber so that the contact membrane expands outward to an expanded state; The sixth configuration includes the third valve being configured to be in a closed state and the fourth valve being configured to be in an open state, and the first pneumatic source generating a negative first pressure on the main chamber, so that the contact membrane shrinks inwardly to a deflated state; The seventh configuration includes the third valve and the fourth valve being configured in the closed state, and the first pressure in the main chamber being maintained; and Wherein, the eighth configuration includes the third valve and the fourth valve being configured in the open state, and the first pressure in the main chamber being substantially equal to the atmospheric pressure.

16. A method of controlling the soft gripper of claim 1 using the pneumatic system of claim 15, the method comprising one or more of the following steps: (i) grasping a target object in a jammed attachment configuration; (ii) grasping a target object in a suction attachment configuration; (iii) deforming from the squeeze attachment configuration to the suction attachment configuration; and / or (iv) deforming from the gripper suction configuration to the gripper jamming configuration.

17. The method of claim 16, wherein: The step (i) comprises the following steps: (ii) configuring the auxiliary chamber control system to the fourth configuration and configuring the main chamber control system to the eighth configuration, so that the soft gripper is in a rest state; (i-ii) configuring the main chamber control system to a fifth configuration so that the contact membrane expands outward to the expanded state; (i-iii) configuring the auxiliary chamber control system to the first configuration so that the neck chamber is closed to the closed state to prevent the jam material from passing through the neck chamber; (i-iv) positioning the soft gripper adjacent to a target object until the target object is in full contact with the expanded contact film; (iv) configuring the main chamber control system to the seventh configuration so that the first pressure in the main chamber is maintained; (i-vi) configuring the main chamber control system to the sixth configuration to generate a negative first pressure in the main chamber; and (i-vii) configuring the main chamber control system to the seventh configuration so that the first pressure in the main chamber is maintained, Thereby, jam attachment for grasping the target object is performed.

18. The method of claim 16, wherein: The step (ii) comprises the following steps: (ii-i) configuring the auxiliary chamber control system to the fourth configuration and configuring the main chamber control system to the eighth configuration, so that the soft gripper is in a rest state; (ii-ii) configuring the main chamber control system to the sixth configuration so that the contact membrane collapses inwardly to the collapsed state; (ii-iii) configuring the auxiliary chamber control system to the first configuration and configuring the main chamber control system to the fifth configuration, so that the neck chamber is closed to prevent the jam material from passing through the neck chamber, and the contact membrane is expanded outward to an expanded state; (ii-iv) positioning the soft gripper adjacent to a target object until the target object is in full contact with the contact film; (ii-v) configuring the main chamber control system to the seventh configuration so that the first pressure in the main chamber is maintained; (ii-vi) configuring the main chamber control system to the sixth configuration so that the contact membrane collapses inwardly to a collapsed state; and (ii-vii) configuring the main chamber control system to the seventh configuration so that the first pressure in the main chamber is maintained, Suction attachment for grasping the target object is thereby performed.

19. The method of claim 16, wherein: Step (iii) comprises the following steps: (iii-i) configuring the auxiliary chamber control system to the first configuration and configuring the main chamber control system to the fifth configuration; (iii-ii) configuring the auxiliary chamber control system to the fourth configuration or the sixth configuration so that the neck chamber is open; (iii-iii) configuring the main chamber to the sixth configuration such that the contact membrane collapses inwardly to the collapsed state, thereby pushing the plugging material into the main chamber; and (iii-iv) configuring the auxiliary chamber to the first configuration and configuring the main chamber to the eighth configuration so that the neck chamber is closed to the closed state to prevent the jam material from passing through the neck chamber, Thereby deforming from the squeeze attachment configuration to the suction attachment configuration.

20. The method of claim 16, wherein: Step (iv) comprises the following steps: (iv-i) configuring the auxiliary chamber control system to the first configuration and configuring the main chamber control system to the eighth configuration; (iv-ii) configuring the auxiliary chamber control system to the fourth configuration so that a path for the jammed particles in the auxiliary chamber is open; (iv-iii) configuring the main chamber control system to the fifth configuration so that the contact membrane expands outward to an expanded state; (iv-iv) configuring the auxiliary chamber into the first configuration so that the neck chamber is closed into the closed state to prevent the jam material from passing through the neck chamber.

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