{"ID":2845912,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.03691","arxiv_id":"2511.03691","title":"Source-Free Bistable Fluidic Gripper for Size-Selective and Stiffness-Adaptive Grasping","abstract":"Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the top sensing chamber deforms upon contact, the displaced liquid triggers snap-through expansion of the grasping chambers, enabling stable and size-selective grasping without continuous energy input. The internal hydraulic feedback further allows passive adaptation of gripping pressure to object stiffness. This source-free and compact design opens new possibilities for lightweight, stiffness-adaptive fluid-driven manipulation in soft robotics, providing a feasible approach for targeted size-specific sampling and operation in underwater and field environments.","short_abstract":"Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid redistribution among three interconnected bistable snap-through chambers. When the...","url_abs":"https://arxiv.org/abs/2511.03691","url_pdf":"https://arxiv.org/pdf/2511.03691v2","authors":"[\"Zhihang Qin\",\"Yueheng Zhang\",\"Wan Su\",\"Linxin Hou\",\"Shenghao Zhou\",\"Zhijun Chen\",\"Yu Jun Tan\",\"Cecilia Laschi\"]","published":"2025-11-05T18:17:25Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}