Hybrid soft-hard gripper with variable stiffness

By designing a hybrid soft-hard gripper with variable stiffness, utilizing a rigid inner frame and actuation cable control, combined with a tactile sensor, the accuracy and adaptability issues of existing grippers in grasping complex objects have been solved, achieving high precision and wide adaptability.

CN122353648APending Publication Date: 2026-07-10DELTA ELECTRONICS INTL SINGAPORE +1
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Patent Information

Application Number
CN202511197714.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2025-08-18
Filing Date
2025-08-26
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing robotic grippers struggle to simultaneously guarantee high precision and broad adaptability when grasping complex geometries and soft, deformable objects. Rigid grippers have limited degrees of freedom, while soft grippers lack sufficient grasping precision and repeatability.

Method used

Design a hybrid soft-hard gripper with variable stiffness, employing multiple fingers, each composed of a rigid, ultra-redundant internal skeleton, with stiffness changes controlled by actuation cables, and combining tactile sensors and force/sliding feedback to achieve shape and force closure gripping.

Benefits of technology

It enhances the adaptability and precision of object manipulation, enabling it to adapt to complex geometries and soft objects, improves gripping accuracy and load capacity, adapts to different surface properties, and protects fragile objects from damage.

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Abstract

This invention provides a hybrid soft-hard gripper with variable stiffness, comprising multiple fingers. Each finger is constructed from a rigid, hyper-redundant internal skeleton with more degrees of freedom than required for the grasping task. In this way, the fingers of the hybrid soft-hard gripper can adapt to the shape of objects with complex geometries, mimicking the advantages of soft grippers. Furthermore, the rigid internal skeleton allows for the generation of the necessary stiffness to achieve high precision and payload during grasping operations. On the other hand, this invention places actuators at the bottom of the gripper, while allowing them to be remotely controlled via lightweight cables, overcoming the space and weight limitations imposed by actuators. The design of the hybrid soft-hard gripper also incorporates the integration of tactile sensors, providing force / slip feedback during grasping operations.
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