{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,6]],"date-time":"2026-07-06T17:18:05Z","timestamp":1783358285926,"version":"3.54.6"},"reference-count":45,"publisher":"Wiley","issue":"12","license":[{"start":{"date-parts":[[2024,10,31]],"date-time":"2024-10-31T00:00:00Z","timestamp":1730332800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,12]]},"abstract":"<jats:p>Robotic grasping and manipulation demand the ability to handle a multitude of objects with different shapes, sizes, quantities, surface smoothness, vulnerability, and stiffness, which is challenging without prior knowledge about object properties. Herein, a novel origami\u2010inspired gripper for universal grasping is presented. The innovative structure seamlessly transforms a simple uniaxial pulling motion into a flexible and robust envelope or pinch grasp, enabling it to tackle various scenarios. The origami gripper offers distinctive advantages, including scalable and optimizable design, grasping compliance and robustness, providing material flexibility, and providing solutions to challenging manipulation tasks. The working principles of the origami gripper are characterized and analyzed. An optimization\u2010based inverse design method is presented to adjust gripper properties for various scenarios. Through comprehensive experimentation and evaluation, the gripper's capabilities to grasp various objects with a wide range of distinctive properties, including ultrasoft, slippery, granular, and multiple objects, which is a challenge for the existing robotic grippers, are demonstrated. The research holds promise for transformative applications in areas such as the food industry, waste handling, fine and fragile objects grasping, and environmental sampling.<\/jats:p>","DOI":"10.1002\/aisy.202400271","type":"journal-article","created":{"date-parts":[[2024,10,31]],"date-time":"2024-10-31T11:43:55Z","timestamp":1730375035000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7997-4403","authenticated-orcid":false,"given":"Hanwen","family":"Cao","sequence":"first","affiliation":[{"name":"The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3900-3519","authenticated-orcid":false,"given":"Jianshu","family":"Zhou","sequence":"additional","affiliation":[{"name":"The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Chen","sequence":"additional","affiliation":[{"name":"The Department of Computer Science and Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiguang","family":"He","sequence":"additional","affiliation":[{"name":"The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qi","family":"Dou","sequence":"additional","affiliation":[{"name":"The Department of Computer Science and Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yun\u2010Hui","family":"Liu","sequence":"additional","affiliation":[{"name":"The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 Hong Kong SAR"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,10,31]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aat8414"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd9461"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd2666"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2189498"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax5425"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd9120"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0172"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0065"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905059055"},{"key":"e_1_2_9_13_1","doi-asserted-by":"crossref","unstructured":"A.\u2010M.Cretu E. M.Petriu P.Payeur F. F.Khalil inIEEE Int. Symp. Haptic Audio Visual Environments and Games IEEE Phoenix AZ2010 pp.1\u20136.","DOI":"10.1109\/HAVE.2010.5623970"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918779698"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0106"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103427"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-39741-6"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd6426"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-28187-x"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202400038"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000251"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200087"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3076563"},{"key":"e_1_2_9_24_1","doi-asserted-by":"crossref","unstructured":"S.Li J. J.Stampfli H. J.Xu E.Malkin E. V.Diaz D.Rus R. J.Wood in2019 Int. Conf. Robotics and Automation (ICRA) IEEE Montreal QC Canada2019 pp.7401\u20137408.","DOI":"10.1109\/ICRA.2019.8794068"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200468"},{"key":"e_1_2_9_26_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abe2000"},{"key":"e_1_2_9_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2871440"},{"key":"e_1_2_9_28_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/5\/051001"},{"key":"e_1_2_9_29_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1479-6"},{"key":"e_1_2_9_30_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900128"},{"key":"e_1_2_9_31_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0154"},{"key":"e_1_2_9_32_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc3721"},{"key":"e_1_2_9_33_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg6640"},{"key":"e_1_2_9_34_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.3424558"},{"key":"e_1_2_9_35_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0023"},{"key":"e_1_2_9_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969920"},{"key":"e_1_2_9_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3224183"},{"key":"e_1_2_9_38_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200081"},{"key":"e_1_2_9_39_1","author":"Yang Y.","year":"2023","journal-title":"IEEE Rob. Autom. Lett."},{"key":"e_1_2_9_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3170800"},{"key":"e_1_2_9_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3071394"},{"key":"e_1_2_9_42_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201806849"},{"key":"e_1_2_9_43_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aax5746"},{"key":"e_1_2_9_44_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abi9704"},{"key":"e_1_2_9_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2020.3024280"},{"key":"e_1_2_9_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/4235.996017"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202400271","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T14:31:18Z","timestamp":1759847478000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202400271"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,31]]},"references-count":45,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2024,12]]}},"alternative-id":["10.1002\/aisy.202400271"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202400271","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,10,31]]},"assertion":[{"value":"2024-04-08","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-10-31","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2400271"}}