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Robot grasping is subject to an inherent tradeoff: Grippers with a large spantypically take a longer time to close, and fast grippers usually cover a smallspan. However, many practical applications of soft grippers require the abilityto close a large distance rapidly. For example, grasping cloth typicallyrequires pressing a wide span of fabric into a graspable cusp. Here, wedemonstrate a human-finger-inspired snapping gripper that exploits elasticinstability to achieve reversible rapid closure over a wide span. Usingprestressed semi-rigid material as the skeleton, the gripper fingers can widelyopen (86 ~) and rapidly close (46 ms) following a trajectory similar to that ofa thumb-index finger pinching which is 2.7 times and 10.9 times better than thereference gripper in terms of span and speed, respectively. We theoreticallygive the design principle, simulatively verify the method, and experimentallytest this gripper on a variety of rigid, flexible, and limp objects and achievegood adaptivity and mechanical performance. This research helps bridge the gapbetween strong industry manipulators and safe human-interactive robotic hands.

Rapid grasping of fabric using bionic soft grippers with elastic instability