Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we presented a reconfigurable pneumatic gripper with fingers that could be set in various configurations, such as hooking, supporting, closuring, and pinching. Each finger incorporates a dexterous joint, a rotating joint, and a customized plug-and-play visuotactile sensor, the DigiTac-v1.5, to control manipulation in real time. We propose a tactile kernel density manipulation strategy for simple and versatile control, including detecting grasp stability, responding to disturbances and guiding dexterous manipulations. We develop a double closed-loop control system that separately focuses on secure grasping and task management, demonstrated with tasks that highlight the capabilities above. The gripper is relatively easy to fabricate and customize, offering a promising and extensible way to combine soft dexterity and tactile sensing for diverse applications in robotic manipulation.

翻译：抓取物体，无论是扁平、圆形、狭窄的，还是形状规则或不规则的，即使在最先进的夹爪面前，确定理想的抓取姿态也充满挑战。本文提出了一种可重构气动夹爪，其手指可设置为钩取、支撑、包络和捏取等多种构型。每根手指集成了灵巧关节、旋转关节以及定制的即插即用视觉触觉传感器DigiTac-v1.5，用于实时控制操作。我们提出了一种触觉核密度操控策略，实现简单而通用的控制，包括检测抓取稳定性、响应扰动以及引导灵巧操作。我们开发了一个双闭环控制系统，分别专注于稳定抓取与任务管理，并通过突出上述能力的任务进行了验证。该夹爪易于制造和定制，为将软体灵巧性与触觉传感相结合用于机器人操作中的多样化应用，提供了一种有前景且可扩展的方式。