Fig. 9

Physical object grasping tests of the fractal gripper. (a) In the physical grasping test, different objects with relatively symmetrical structures were grasped. The light background means gripping mode, while dark background indicates grasping mode. (b) Grasping test for objects with small dimensions and hard geometric surfaces. (c) Selects medium-sized fruits and vegetables for stable grasping without damaging the skin of the object. (d) Grasping soft dolls of different sizes and asymmetrical structures for test. (e) The fractal gripper successfully suspends the water-filled bottle with a total weight of 865 g. A larger weight was not tested, as slippage occurs at this load, potentially leading to instability.