{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T03:17:29Z","timestamp":1771039049323,"version":"3.50.1"},"reference-count":34,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2023,3,22]],"date-time":"2023-03-22T00:00:00Z","timestamp":1679443200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203044"],"award-info":[{"award-number":["62203044"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008778","name":"University of Science and Technology Beijing","doi-asserted-by":"publisher","award":["06500212"],"award-info":[{"award-number":["06500212"]}],"id":[{"id":"10.13039\/501100008778","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2023,6]]},"abstract":"<jats:sec><jats:label\/><jats:p>Hitherto, automated grasping with robotic grippers requires adjusting the posture and force of the fingers based on the size, geometry, stiffness, and pose of the objects. To provide a simpler but efficient grasping methodology, a soft enveloping gripper is presented and investigated how its morphological adaptability improves the grasping ability by comparing its performance with fingered grippers. Results show that this enveloping gripper can omnidirectionally envelop objects via active\u2013passive interaction, which allows the gripper to 100% grasp the object located at different positions within range and keep their orientations. However, the grasping success rate and orientation error of the fingered grippers highly depend on the relative position and angle of the objects to the grippers, as well as the number of fingers. The dynamic vibration and decay time of the enveloping gripper when grasping a 500\u2009g weight are, both, approximately one\u2010sixth of those of the two\u2010fingered gripper when grasping a 12.37\u2009g cube. This enveloping gripper can automatically grasp objects (including deformable ones) lying in different poses without posture estimation and force control with a simple vision\u2010based automatic grasping method. The enveloping grasping method may open an avenue for simple, low cost yet powerful automatic grasping applications.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200456","type":"journal-article","created":{"date-parts":[[2023,3,23]],"date-time":"2023-03-23T03:09:54Z","timestamp":1679540994000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["A Soft Enveloping Gripper with Enhanced Grasping Ability via Morphological Adaptability"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5194-8999","authenticated-orcid":false,"given":"Yufei","family":"Hao","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering University of Science and Technology Beijing  Beijing 100083 China"}]},{"given":"Zhongkui","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Robotics Ritsumeikan University  Kusatsu Shiga 525-8577 Japan"}]},{"given":"Yuzhao","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering University of Science and Technology Beijing  Beijing 100083 China"}]},{"given":"Weitai","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering University of Science and Technology Beijing  Beijing 100083 China"}]},{"given":"Tengfei","family":"Cai","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering University of Science and Technology Beijing  Beijing 100083 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0692-4090","authenticated-orcid":false,"given":"Jianhua","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering University of Science and Technology Beijing  Beijing 100083 China"}]},{"given":"Fuchun","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Technology Tsinghua University  Beijing 100084 China"}]}],"member":"311","published-online":{"date-parts":[[2023,3,22]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-01833-1"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211069569"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904044402"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919875811"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-021-27261-0"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.802720"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2019.p0016"},{"key":"e_1_2_8_9_1","volume":"5","author":"Laffranchi M.","year":"2020","journal-title":"Sci. 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