Introduction
A variety different kinds of soft actuators based on different working principles have been developed. Most soft grippers do not allow stiffness modulation when grasping, these actuators cannot provide very high stiffness and large grasp force, thus the weight that such a soft gripper can hold is limited.
Researchers have proposed some ways to increase the stiffness of a soft gripper. For stiffness modulation of soft grippers, current methods need dedicated design and control, complicating both the actuator geometric configuration and...
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