Fig. 5: Using our rigid-soft hybrid system to grasp fruits of various sizes and masses.
From: Grasping by spiraling: reproducing elephant movements with rigid-soft robot synergy
Fruits used (from left to right): blueberry, cherry, apple, mango, a bunch of grapes, a bunch of bananas, pineapple, and coconut. The manipulator could not securely grasp a coconut due to the shifting center of gravity (CG) caused by the liquid inside the fruit. The soft manipulator’s inability to resist torsional twists during dynamic CG shifts led to grip loss.
