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Hence, we proposed a soft gripper with multiple grasping modes in this study. The gripper consists of four modular soft fingers integrated with layer jamming structure and tendon-driven mechanism. Each finger's rotating shaft of the base uses a torsional spring to decouple the bending deformation and relative rotation. An octopus-mimicking vacuum sucker is installed in the fingertip to generate suction. The effectiveness of the bending deformation and variable stiffness of the design were proved by finite element simulation. Thus, the control model of the finger was built, and the control strategy of multimode grasping of the gripper was proposed. Three control modes were designed to realize the four anthropomorphic grasping modes, including wrap, pinch, hook, and suck. Furthermore, the grasping performance was evaluated to show the abilities. The experiments indicated the superior performance of the proposed gripper and the multimode grasping ability that satisfies various grasping tasks.<\/jats:p>","DOI":"10.1089\/soro.2020.0065","type":"journal-article","created":{"date-parts":[[2021,6,9]],"date-time":"2021-06-09T20:08:25Z","timestamp":1623269305000},"page":"233-249","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":126,"title":["Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism"],"prefix":"10.1177","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9149-7336","authenticated-orcid":false,"given":"Bin","family":"Fang","sequence":"first","affiliation":[{"name":"Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fuchun","family":"Sun","sequence":"additional","affiliation":[{"name":"Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Linyuan","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Electronics and Information Engineering, Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fukang","family":"Liu","sequence":"additional","affiliation":[{"name":"Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiangxiang","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Anhui University of Technology, Ma'anshan, Anhui, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haiming","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Electronics and Information Engineering, Shenzhen University, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenbing","family":"Huang","sequence":"additional","affiliation":[{"name":"Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huaping","family":"Liu","sequence":"additional","affiliation":[{"name":"Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1498-3103","authenticated-orcid":false,"given":"Li","family":"Wen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Automation, Beihang University, Beijing, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,4,19]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1108\/RPJ-11-2019-0302"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0131"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0135"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2014.00003"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0019"},{"key":"e_1_3_3_7_2","doi-asserted-by":"crossref","unstructured":"Hao Y Gong Z Xie Z et al. 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