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cs.RO2026

Hybrid Rigid-Soft Robotic Gripper with Shape Adaptation, Uniform Force Distribution, and Self-Locking Capabilities

Xi Chen, Yun Wang, Lichao Yang +2

The paper introduces a low‑cost hybrid rigid‑soft gripper that combines membrane‑based pneumatic actuation with 3D‑printed dual ratchet‑pawl mechanisms to achieve shape adaptation,…