Fig. 1: Demonstration of a noninvasive and biodegradable kirigami gripper.
a The 2D precursor of the kirigami gripper is divided by a central X-shape ribbon network into two fan shapes and two triangles patterned with parallel cuts. The angle γo = 80° is highlighted in dashed white lines, with the inset showing the side view with a 127 μm thickness. Green arrows are the direction of uniaxial stretching. b, c The kirigami gripper integrated with a robotic arm grasping a water droplet (b) and a 6.4 kg heavy deadweight (c), 16,000 times the weight of the gripper. d, e 2D precursors of the gripper made of a bare leaf (d). The gripper made of a leaf grasps a dandelion (e). f The kirigami gripper integrated onto a prosthesis electrical terminal device (ETD) assists the prosthesis with picking a grape from the vine noninvasively. The inset shows the squeezed ruptured grape after picking without using the kirigami gripper. Scale bars = 10 mm.
