LAUSR

This paper presents a proposed design of soft gripper fingers with adjustable stiffness that could be employed in the applications requiring adaptable and stable grasping. The main idea is to combine the under-actuated cable driven mechanism of a soft gripper finger with particle and layer jamming mechanisms to create a new grasping function with variable stiffness for different manipulation requirements. The movement of the soft gripper finger is produced by a cable-driven mechanism. However, particle and layer jamming chambers were embodied as a variable stiffness mechanism for the variable stiffness function. A single soft gripper finger module was developed and tested with particle and layer jamming chamber attached to it. The stiffness and response time of the soft gripper finger were measured in three distinct configurations: single finger module, particle jamming chamber attached to the finger, and layer jamming chamber attached to the finger. The comparison reveals that combining a soft finger with particle jamming increased performance by 20% compared to using the soft finger alone, while combining it with layer jamming led to an 80% increase. Additionally, layer jamming combined with a soft finger showed a 28% increase compared to particle jamming combined with a soft finger. Furthermore, simulation of the soft finger was conducted to estimate the deflection of the soft gripper finger under various applied forces. Moreover, proposed closed loop smart stiffness mechanism for the soft gripper was modeled and simulated by evaluating both soft and hard objects and simulation results were obtained for different cases. The findings indicated that the stiffness of the soft gripper finger can be adjusted for different grasping requirements.