Fig. 5: Demonstrations of the grasping and locking functions of the origami-inspired 3D soft robot acting on static and dynamic objects.
From: Origami-inspired folding assembly of dielectric elastomers for programmable soft robots
a A pyramid-shaped soft gripper captures a static ball and transports it to a beaker. b Sandpaper placed on the inside of the soft gripper. c Sandpaper placed on the inside of the soft gripper. d Maximum gripping weight of the soft gripper with different grit sandpapers. e A square-shaped soft robot captures a falling ball and locks it in a box. f A square-shaped soft robot captures a rolling ball and then locks it
