A pneumatic soft gripper with pre-deformed stiffener inspired by blowing dragon toys
Why this work is in the frame
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Bibliographic record
Abstract
The movement of toys not only captures attention of children but also informs the design of soft robotics. Pneumatic actuators are a key area of research in soft robotics due to their lightweight and easily controllable characteristic. This study presents the design of a novel pneumatic soft gripper that integrates a soft, minimally stretchable inflatable tube with a pre-deformed stiffener. The motion of the gripper is inspired by the inflation and deflation process of the blowing dragon toys. The gripper’s bending performance and load capacity are analyzed through theoretical force analysis and finite element simulations. Its grasping performance and versatility were evaluated across a range of applications in experiments. Results indicate a consistent trend between theoretical force analysis, finite element simulations, and experimental outcomes. The proposed soft gripper is capable of grasping objects weighing up to 23.32 g and with a diameter of up to 50 mm, achieving a weight-to-grip ratio of approximately 28.38 times its own weight (0.82 g). Compared with conventional lightweight pneumatic soft grippers, the proposed design exhibits superior load capacity. Furthermore, it demonstrates practical applications in tasks such as catching thumbtacks, collecting items, and cleaning pipes due to its excellent bending performance.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it