无需外部供能的自含式软抓手，可自动适应物体大小和软硬程度。
Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping
- 内部液体在三个互连腔体间重分布，触碰即触发抓取动作。
- 接触后自动弹跳扩张，实现无持续供能的稳定抓握。
- 适合水下或野外等无电源环境的精准采样任务。
传统流体驱动软抓手通常依赖外部供能，限制了便携性和长期自主性。本文提出一种自含式软抓手，其尺寸固定，仅通过三个互连的双稳态突跃腔体内液体的内部重分布来工作。当顶部传感腔体因接触发生形变时，液体重分配触发抓取腔体的突跃扩张，实现无需持续能量输入的稳定、尺寸选择性抓握。内部液压反馈还使夹持压力能被动适应物体刚度。该无源且紧凑的设计为轻量化、刚度自适应的流体驱动操作开辟了新可能，适用于水下及野外环境中针对特定尺寸物体的采样与操作。
原文摘要 · Abstract (English)
Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the top sensing chamber deforms upon contact, the displaced liquid triggers snap-through expansion of the grasping chambers, enabling stable and size-selective grasping without continuous energy input. The internal hydraulic feedback further allows passive adaptation of gripping pressure to object stiffness. This source-free and compact design opens new possibilities for lightweight, stiffness-adaptive fluid-driven manipulation in soft robotics, providing a feasible approach for targeted size-specific sampling and operation in underwater and field environments.
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