{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T20:01:43Z","timestamp":1792785703948,"version":"4.5.0"},"reference-count":46,"publisher":"IOP Publishing","issue":"5","license":[{"start":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T00:00:00Z","timestamp":1792108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/publishingsupport.iopscience.iop.org\/iop-standard\/v1"},{"start":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T00:00:00Z","timestamp":1792108800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"name":"Shanghai Municipal Science and Technology Major Project","award":["2021SHZDZX0103"],"award-info":[{"award-number":["2021SHZDZX0103"]}]},{"name":"Key Project of Comprehensive Prosperity Plan of Fudan University","award":["XM06231744"],"award-info":[{"award-number":["XM06231744"]}],"id":[{"id":"https:\/\/ror.org\/013q1eq08","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,10,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Existing soft grippers often suffer from slow actuation, continuous energy consumption during grasp maintenance, and limited payload-to-weight ratios, which restrict their application in dynamic and unstructured environments. In addition, fixed-geometry designs and multi-actuator architectures frequently compromise geometric adaptability and increase control complexity. To address these limitations, this paper presents a three-finger adaptive bioinspired gripper driven by prestressed tape springs, inspired by the dual-dimensional prey-capture mechanism of Drosera capensis and the basal-scale adaptation strategy of the octopus. A hierarchical bioinspired design is realized through a reconfigurable palm based on a crank-slider linkage for synchronous radial spacing adjustment, together with retractable, variable-length fingers that continuously adapt to objects of different sizes. A centralized cable-driven triggering mechanism exploits the bistable snap-through behavior of prestressed tape springs to achieve rapid compliant enveloping and zero-power grasp maintenance. A discrete rigid-segment kinematic model is developed to characterize the triggering and curling process, revealing a fully decoupled grasping workspace with a palm diameter ranging from 90\u2013160 mm and finger lengths adjustable from 0\u2013135 mm. Experimental results demonstrate closure times below 60 ms across all configurations, a payload-to-weight ratio of 18.75, and a 100% success rate in damage-free static grasping of 19 objects with diverse geometries, materials, and masses. The proposed design integrates biological adaptive capture strategies with a reconfigurable bistable architecture, providing an energy-efficient and low-dimensional solution for adaptive robotic grasping in unstructured environments.<\/jats:p>","DOI":"10.1088\/1748-3190\/aea958","type":"journal-article","created":{"date-parts":[[2026,9,17]],"date-time":"2026-09-17T22:53:23Z","timestamp":1789685603000},"page":"056026","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["A bioinspired bistable robotic gripper with decoupled palm and finger reconfiguration"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-4224-3527","authenticated-orcid":true,"given":"Tangyan","family":"Wang","sequence":"first","affiliation":[{"name":"Fudan University"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-9651-3305","authenticated-orcid":true,"given":"Tianyu","family":"Cheng","sequence":"additional","affiliation":[{"name":"Fudan University"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"}]},{"given":"Shaokun","family":"Wang","sequence":"additional","affiliation":[{"name":"Fudan University"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"data-curation","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-2336-7278","authenticated-orcid":true,"given":"Mo","family":"Chen","sequence":"additional","affiliation":[{"name":"Fudan University"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"investigation","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2421-740X","authenticated-orcid":true,"given":"Guo-Niu","family":"Zhu","sequence":"additional","affiliation":[{"name":"Fudan University"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]}],"member":"266","published-online":{"date-parts":[[2026,10,16]]},"reference":[{"key":"bbaea958bib1","doi-asserted-by":"publisher","first-page":"1377","DOI":"10.1109\/LRA.2024.3520922","type":"journal-article","article-title":"High-speed scooping through dynamic manipulation: model and practice","volume":"10","author":"Cha","year":"2025","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":"2026-06-12","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-09-17","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-10-16","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}