Robotics hand/grippers nowadays are not limited to manufacturing lines; instead, they are widely utilized in cluttered environments, such as restaurants, farms, and warehouses. In such scenarios, they need to deal with high uncertainty of the grasped objects' shapes, postures, surfaces, and material properties, which requires complex integration of sensing and decision-making process. On the other hand, integrating soft materials into the gripper's design may tolerate the above uncertainties and reduce complexity in control. In this paper, we introduce ROSE, a novel soft gripper that can embrace the object and squeeze it by buckling a funnel-liked thin-walled soft membrane around the object by simple rotation of the base. Thanks to this design, ROSE hand can adapt to a wide range of objects that can fit in the funnel and handle with gentle gripping force. Regardless of this, ROSE can generate a high lift force (up to 33kgf) while significantly reducing the normal pressure on the gripped objects. In our experiment, a 198g ROSE can be integrated into a robot arm with a single actuation and successfully lift various types of objects, even after 400,000 trials. The embracing mechanism helps reduce the dependence of friction between the object and the membrane, as ROSE could pick up a chicken egg submerged inside an olive oil tank. We also report a feasible design for equipping the ROSE hand with tactile sensing while appealing to the scalability of the design to fit a wide range of objects. Video: https://youtu.be/E1wAI09LaoY

翻译：如今的机器人手爪/夹具不再局限于生产线，而是广泛应用于餐厅、农场、仓库等杂乱环境中。在此类场景下，它们需要应对被抓取物体形状、姿态、表面和材料属性的高度不确定性，这需要传感与决策过程的复杂集成。另一方面，将软性材料融入夹具设计可缓解上述不确定性并降低控制复杂度。本文介绍ROSE——一种新型软体夹具，它通过简单旋转基座使漏斗状薄壁软膜发生屈曲，从而拥抱并挤压物体。得益于该设计，ROSE手爪能适应可放入漏斗的各类物体，并以温和夹持力进行操作。同时，ROSE能产生高达33kgf的举升力，同时显著降低被夹物体上的法向压力。实验中，一个198g的ROSE夹具可通过单驱动器集成至机械臂，成功举起多种类型物体（经40万次测试后仍有效）。其包裹机制降低了对物体与膜之间摩擦的依赖——ROSE甚至能从橄榄油槽中捞起浸没其中的鸡蛋。我们还报告了一种为ROSE手爪配备触觉感知的可行方案，并展示了设计可扩展性以适应不同尺寸物体。视频链接：https://youtu.be/E1wAI09LaoY