Soft robots have seen widespread adoption in interactive tasks due to their inherent compliance and adaptability. However, these advantages often come at the cost of stability, posing challenges in a dynamic environment. This limitation is especially critical in soft grippers, where instability under acceleration or external disturbances can result in grasp failure. In this study, we present a continuously stable structure through plastic deformation (CSSPD), integrated into a soft gripper. By leveraging the mechanism of plastic deformation, the gripper maintains continuous configurations without energy input, while the added stiffness ensures both static and dynamic stability. We introduce a bioinspired paw pad that significantly enhances stability and enables sensing-based rapid object grasping. Then we develop the mathematical model and optimize the kirigami structure of the metal layer. Experimental results show that the gripper can sustain a passive holding force of up to 16 N without energy input, achieving performance comparable to pneumatic actuation at 0.3 MPa. When combined with pneumatic actuation, it remains stable under pulsed accelerations of up to 400 m/s^2. It can also passively perch on tree branches for extended periods without power, demonstrating promise for mobile robotic applications.

翻译：暂无翻译