{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,17]],"date-time":"2026-08-17T23:09:46Z","timestamp":1787008186753,"version":"build-2736575974"},"reference-count":38,"publisher":"IOP Publishing","issue":"1","license":[{"start":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T00:00:00Z","timestamp":1767139200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/publishingsupport.iopscience.iop.org\/iop-standard\/v1"},{"start":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T00:00:00Z","timestamp":1767139200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"name":"Lei Zhang","award":["National Natural Science Foundation of China. 1230"],"award-info":[{"award-number":["National Natural Science Foundation of China. 1230"]}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,2,10]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Soft-body grippers are highly pliable due to the use of flexible materials, which enable safe grasping of objects, but their load-bearing capacity is limited by the mechanical properties of the materials themselves. To address the problem of insufficient stiffness of traditional soft-body grippers, this paper proposes a reconfigurable exoskeleton bionic stiff-flexible gripper inspired by the hydraulic legs of spiders. The gripper is designed with three switchable working modes, and the quick-connect removal mechanism works in concert with the lower fixed jaws to adapt to the grasping needs of objects of different sizes and masses. The joints adopt balloon actuators that mimic the hydraulic leg mechanism of a spider, which can realize adaptive adjustment of the center position and drive the exoskeleton structure to complete the deformation action. Based on the contact-induced extrusion interaction between the balloon and the exoskeleton, a theoretical model of nonlinear actuation is developed. The balloon is simulated using finite element analysis to determine its effective operating range. Furthermore, a rectangular silicone membrane is designed to envelop the exoskeleton surface, enhancing the system\u2019s flexibility and ensuring consistent structural support. The experimental evaluation of the comprehensive grasping performance of the gripper shows that the reconfigurable exoskeleton gripper can effectively grasp objects in the size range of 3\u2013230 mm with a maximum weight of 1 kg, which significantly extends the application range and load-bearing capacity of the traditional soft gripper.<\/jats:p>","DOI":"10.1088\/1748-3190\/ae2053","type":"journal-article","created":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T22:50:47Z","timestamp":1763419847000},"page":"016005","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["A reconfigurable exoskeleton bionic rigid-soft combination gripper"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-6043-7273","authenticated-orcid":true,"given":"Ziyin","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-9802-9473","authenticated-orcid":true,"given":"Yanyan","family":"Wu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7104-2281","authenticated-orcid":true,"given":"Yang","family":"Luo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2025,12,31]]},"reference":[{"key":"bbae2053bib1","doi-asserted-by":"publisher","first-page":"322","DOI":"10.1109\/ROBOSOFT.2019.8722722","type":"conference-proceedings","article-title":"Soft robotic fingers with embedded ionogel sensors and discrete actuation modes for somatosensitive manipulation","author":"Truby","year":"2019"},{"key":"bbae2053bib2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1089\/soro.2018.0015","type":"journal-article","article-title":"A novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist","volume":"6","author":"Fei","year":"2019","journal-title":"Soft Robot."},{"key":"bbae2053bib3","doi-asserted-by":"publisher","first-page":"1909","DOI":"10.1109\/lra.2017.2714141","type":"journal-article","article-title":"A prestressed soft gripper: design, modeling, fabrication, and tests for food handling","volume":"2","author":"Wang","year":"2017","journal-title":"IEEE Robot. 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All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2025-05-08","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2025-11-17","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2025-12-31","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}