Design and Evaluation of a Flexible-Rod Inner Grasper for Improved Soft Robotic Gripping

Design and Evaluation of a Flexible-Rod Inner Grasper for Improved Soft Robotic Gripping | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Design and Evaluation of a Flexible-Rod Inner Grasper for Improved Soft Robotic Gripping Helmy Dewanto Bryantono, Zulfan Yus Andi, Ting-Hsuan Chu, Shi-Chang Tseng This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7098514/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 3 You are reading this latest preprint version Abstract This research focuses on analyzing how the design and configuration of the inner grasping structure affect the hold's ability to conform to shapes, maintain stable grasps, and adapt the object geometries. Through a series of experiments, factors such as grasping position, dimension, shape, and weight variations of the object have been evaluated to determine their influence on key gripper characteristics like grasping ability, contact area, and adaptability. The findings offer valuable insights for optimizing the mechanical design of soft grippers to enhance their effectiveness and make them more viable in handling an object, particularly in applications where conformity and adaptability are crucial on the object surface. Using low-viscosity Liquid Silicone Rubber (LSR) as the primary material, with successful grasping of diverse fruits (apple, pear, mango) highlights the gripper's versatility and mechanical conformity, extends the previous studies, and will be a valuable finding for academic and practical applications. Soft gripper Inner grasper Grasping ability Contact area Adaptability Full Text Cite Share Download PDF Status: Under Review Version 1 posted Reviewers invited by journal 14 Jul, 2025 Editor assigned by journal 13 Jul, 2025 First submitted to journal 10 Jul, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7098514","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":485185869,"identity":"33d6694f-32e3-4d31-88ca-d715861478b5","order_by":0,"name":"Helmy Dewanto Bryantono","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABBklEQVRIiWNgGAWjYBACAwbmBiB1AC4gByIOPMCrhRGuBcwyBmtJIEVLIohgwKfFnL2xdTMPw518g+Nnjz/4uMMmfX7Y4YdAW+zkdBuwa7HsOdh2m4fhmeWGM3mJjTPPpOVuvJ1mANSSbGx2ALsWgxuJIC2HDQwO5Bg287Ydzt04OwGk5UDiNlxa7j+Eajn/Bqwl3XB2+gf8Wm4wQrXcgNiSIC+dQ8CWM4ltN+cYPDOQvPHGcObMtjTDDdI5BQcSDPD45fjhYzfeVNwx4DufY/DhY5uNvPzs9M0fPlTYyeHSAgJMPAYMDAowBQZghgFu5SDA+ANIyDdAeXDGKBgFo2AUjAIoAAC7J25ScOAZggAAAABJRU5ErkJggg==","orcid":"https://orcid.org/0009-0000-8382-4328","institution":"National Yunlin Institute of Technology: National Yunlin University of Science and Technology","correspondingAuthor":true,"prefix":"","firstName":"Helmy","middleName":"Dewanto","lastName":"Bryantono","suffix":""},{"id":485185870,"identity":"3844c24f-a578-4f52-97a7-d53e959c627e","order_by":1,"name":"Zulfan Yus Andi","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Zulfan","middleName":"Yus","lastName":"Andi","suffix":""},{"id":485185871,"identity":"2157454c-9818-4010-a21f-8a3b63f6813d","order_by":2,"name":"Ting-Hsuan Chu","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Ting-Hsuan","middleName":"","lastName":"Chu","suffix":""},{"id":485185872,"identity":"f2039ef2-f563-4f18-867b-fa13b06bcfd4","order_by":3,"name":"Shi-Chang Tseng","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Shi-Chang","middleName":"","lastName":"Tseng","suffix":""}],"badges":[],"createdAt":"2025-07-11 06:52:29","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7098514/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7098514/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":86859134,"identity":"3119fc85-6bc5-4249-a529-e865e1a6b715","added_by":"auto","created_at":"2025-07-16 11:52:31","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1129040,"visible":true,"origin":"","legend":"","description":"","filename":"JAMT2025.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7098514/v1_covered_a27eabff-25eb-461a-8c7c-7c1d9ea2f7e0.pdf"}],"financialInterests":"","formattedTitle":"Design and Evaluation of a Flexible-Rod Inner Grasper for Improved Soft Robotic Gripping","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Soft gripper, Inner grasper, Grasping ability, Contact area, Adaptability","lastPublishedDoi":"10.21203/rs.3.rs-7098514/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7098514/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis research focuses on analyzing how the design and configuration of the inner grasping structure affect the hold's ability to conform to shapes, maintain stable grasps, and adapt the object geometries. 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