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A variable compliance, soft gripper

Giannaccini, M. E.; Georgilas, I.; Horsfield, I.; Peiris, B. H. P. M.; Lenz, A.; Pipe, A. G.; Dogramadzi, S.


M. E. Giannaccini

I. Georgilas

I. Horsfield

B. H. P. M. Peiris

A. Lenz


Autonomous grasping is an important but challenging task and has therefore been intensively addressed by the robotics community. One of the important issues is the ability of the grasping device to accommodate varying object shapes in order to form a stable, multi-point grasp. Particularly in the human environment, where robots are faced with a vast set of objects varying in shape and size, a versatile grasping device is highly desirable. Solutions to this problem have often involved discrete continuum structures that typically comprise of compliant sections interconnected with mechanically rigid parts. Such devices require a more complex control and planning of the grasping action than intrinsically compliant structures which passively adapt to complex shapes objects. In this paper, we present a low-cost, soft cable-driven gripper, featuring no stiff sections, which is able to adapt to a wide range of objects due to its entirely soft structure. Its versatility is demonstrated in several experiments. In addition, we also show how its compliance can be passively varied to ensure a compliant but also stable and safe grasp. © 2013 Springer Science+Business Media New York.


Giannaccini, M. E., Georgilas, I., Horsfield, I., Peiris, B. H. P. M., Lenz, A., Pipe, A. G., & Dogramadzi, S. (2014). A variable compliance, soft gripper. Autonomous Robots, 36(1-2), 93-107.

Journal Article Type Article
Acceptance Date Nov 14, 2013
Online Publication Date Dec 1, 2013
Publication Date Jan 1, 2014
Journal Autonomous Robots
Print ISSN 0929-5593
Publisher Springer (part of Springer Nature)
Peer Reviewed Peer Reviewed
Volume 36
Issue 1-2
Pages 93-107
Keywords grasping, soft robotics, continuum robot, variable compliance, shape invariant grasping
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