The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities remain under-explored. This paper presents the DexGrip, a multi-modal soft robotic gripper for in-hand grasping, re-orientation and manipulation. DexGrip features a 3 Degrees of Freedom (DoFs) active suction palm and 3 active (rotating) grasping surfaces, enabling soft, stable, and dexterous grasping and manipulation without ever needing to re-grasp an object. Uniquely, these features enable complete 360 degree rotation in all three principal axes. We experimentally demonstrate these capabilities across a diverse set of objects and tasks. DexGrip successfully grasped, re-positioned, and re-oriented objects with widely varying stiffnesses, sizes, weights, and surface textures; and effectively manipulated objects that presented significant challenges for existing robotic grippers.

翻译：机器人夹持器不仅能够抓取物体，还能在手内对物体进行重新定位和定向，这对于实现多功能、通用型操作至关重要。尽管软体机器人抓取技术的最新进展极大地提升了抓取质量和稳定性，但其操作能力仍有待深入探索。本文提出了DexGrip，一种用于手内抓取、重定向与操作的多模态软体机器人夹持器。DexGrip具有一个3自由度主动吸附掌面与三个主动（旋转）抓取表面，能够实现无需重新抓取物体的柔软、稳定且灵巧的抓取与操作。独特的是，这些特性使其能够在所有三个主轴实现完整的360度旋转。我们通过实验在一系列不同的物体和任务中验证了这些能力。DexGrip成功抓取、重新定位并重定向了在刚度、尺寸、重量和表面纹理上差异巨大的物体；并有效操作了对现有机器人夹持器构成显著挑战的物体。