Fig. 3: Janus-faced grasping feature.
a The isometric view and the side view of the deploying gripper with the increasing displacement along the x-axis. Fx denotes the applied stretching force along the x-axis. Fy denotes the y-direction reaction force between the petals and target object when the gripper is in contact with the target. b Schematics showing the transition of the geodesic ribbon network (highlighted in dashed black line) from bending to stretching with an increasing pulling-out force Fz. Fz denotes the force required in the z direction to pull out the green sphere from the gripper, with the green sphere being the target object. Green arrows are the direction of the pulling-out force Fz. Black dots are the fixed points. c Experimental force-displacement (Fx-dx) curves for three grippers with γo = 80°, 130°, and 150°. The error bars represent the standard errors of the mean. d Experimental touch force Fy as a function of the displacement dx of three grippers. e Experimental pulling-out force Fz as a function of the displacement dx for the grippers. The inset shows the schematic illustration of measuring Fz via pulling green spheres with two different diameters D out of the grippers. The error bars represent the standard errors of the mean. f Comparison of the robustness (payload-to-weight ratio vs. self-weight) between our gripper and other works.
