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arXiv · 2601.09104

Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object

Ko Yamamoto·Kyosuke Ishibashi·Hiroki Ishikawa·Osamu Azami
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Abstract

This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle.

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Ko Yamamoto, Kyosuke Ishibashi, Hiroki Ishikawa, Osamu Azami. 2026-01-14. Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object. https://doi.org/10.1080/01691864.2025.2608943

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