{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,9]],"date-time":"2026-10-09T16:06:40Z","timestamp":1791562000042,"version":"4.3.4"},"reference-count":63,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2022,12,1]],"date-time":"2022-12-01T00:00:00Z","timestamp":1669852800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2022,12,1]]},"abstract":"<jats:p>The growing need for soft robots with secure, adaptive, and autonomous functioning in unforeseen environments favors designs with multiple functionalities. This has driven soft robotic grippers to be explored to integrate perceptual capability for augmented multifunctionality. In nature, sea anemones can detect and catch preys of various shapes and sizes effectively with extremely simple bodies because of the efficient coupling of sensing and actuation capability. Inspired by their body structures, we present a bistable gripper with multifunctionality that includes sensing (proprioceptive and exteroceptive) and multimodal gripping (grasping and pinching). The gripper exploits an array of tapered pins on the external surface of a dome membrane for gripping and a set of cylindrical markers on the internal surface of the membrane for optical sensing. The membrane is bistable and can settle in either of two equilibrium states \u201cnatural\u201d and \u201cretracted.\u201d Gripping functionality is achieved by the centripetal enveloping movement of the pins, along with the passive snap-through process of the membrane. By analyzing the distribution of markers within the view of an embedded camera, sophisticated sensing functionality can be achieved. We first characterized each function separately and then implemented an object handling system, combining the sensing and gripping functionality, to demonstrate the potential for more advanced robotic applications. This work delivers a compact universal gripper design with an efficient and elegant integration of multifunctionality.<\/jats:p>","DOI":"10.1089\/soro.2020.0176","type":"journal-article","created":{"date-parts":[[2021,12,9]],"date-time":"2021-12-09T17:11:03Z","timestamp":1639069863000},"page":"1040-1051","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":47,"title":["A Sea-Anemone-Inspired, Multifunctional, Bistable Gripper"],"prefix":"10.1177","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8720-6391","authenticated-orcid":false,"given":"Qiukai","family":"Qi","sequence":"first","affiliation":[{"name":"SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom."},{"name":"Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Japan."},{"name":"Suzumori-Endo Laboratory, Tokyo Institute of Technology, Tokyo, Japan."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6357-806X","authenticated-orcid":false,"given":"Chaoqun","family":"Xiang","sequence":"additional","affiliation":[{"name":"SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Van Anh","family":"Ho","sequence":"additional","affiliation":[{"name":"Soft Haptics Laboratory, Japan Advanced Institute of Science and Technology, Nomi, Japan."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jonathan","family":"Rossiter","sequence":"additional","affiliation":[{"name":"SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,12,12]]},"reference":[{"key":"e_1_3_5_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_5_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_3_5_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_3_5_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1145803"},{"key":"e_1_3_5_6_2","doi-asserted-by":"crossref","unstructured":"Shick JM. A Functional Biology of Sea Anemones. Dordrech Netherlands: Springer Science+Business Media 1991.","DOI":"10.1007\/978-94-011-3080-6"},{"key":"e_1_3_5_7_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"e_1_3_5_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_3_5_9_2","doi-asserted-by":"publisher","DOI":"10.1002\/advs.201800541"},{"key":"e_1_3_5_10_2","doi-asserted-by":"publisher","DOI":"10.1063\/1.5128474"},{"key":"e_1_3_5_11_2","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-021-00594-z"},{"key":"e_1_3_5_12_2","doi-asserted-by":"crossref","unstructured":"Guo Z Sun Z Li X. Design and fabrication of pneumatic soft gripper. In: ASME 2018 International Mechanical Engineering Congress and Exposition. American. Society of Mechanical Engineers Digital Collection New york NY: IEEE 2018.","DOI":"10.1115\/IMECE2018-86648"},{"key":"e_1_3_5_13_2","doi-asserted-by":"publisher","DOI":"10.1080\/11762320802557865"},{"key":"e_1_3_5_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131850"},{"key":"e_1_3_5_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201006464"},{"key":"e_1_3_5_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201504264"},{"key":"e_1_3_5_17_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax5425"},{"key":"e_1_3_5_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2714141"},{"key":"e_1_3_5_19_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan4268"},{"key":"e_1_3_5_20_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"e_1_3_5_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2171093"},{"key":"e_1_3_5_22_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201400630"},{"key":"e_1_3_5_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3021427"},{"key":"e_1_3_5_24_2","doi-asserted-by":"crossref","unstructured":"Zhu T Yang H Zhang W. A spherical selfadaptive gripper with shrinking of an elastic membrane. 2016;512\u2013517.","DOI":"10.1109\/ICARM.2016.7606973"},{"key":"e_1_3_5_25_2","author":"Sui D","year":"2020","unstructured":"Sui D, , Zhu Y, , Zhao S, et al. A bioinspired soft swallowing gripper for universal adaptable grasping. Soft Robot, 2020 [Epub ahead of print]; DOI: 10.1089\/soro.2019.0106.","journal-title":"Soft Robot"},{"key":"e_1_3_5_26_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700009073"},{"key":"e_1_3_5_27_2","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419834781"},{"key":"e_1_3_5_28_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-019-55163-1"},{"key":"e_1_3_5_29_2","first-page":"364","volume-title":"In: IEEE International Conference on Robotics and Automation, Karlsruhe","author":"Takahashi T","year":"2013","unstructured":"Takahashi T, , Nagato K, , Suzuki M, et al. Flexible vacuum gripper with autonomous switchable valves. In: IEEE International Conference on Robotics and Automation, Karlsruhe. Piscataway, NJ: IEEE, 2013, pp. 364\u2013369."},{"key":"e_1_3_5_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759034"},{"key":"e_1_3_5_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/RCAR49640.2020.9303279"},{"key":"e_1_3_5_32_2","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201700284"},{"key":"e_1_3_5_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.10.005"},{"key":"e_1_3_5_34_2","first-page":"20000252000025","article-title":"Low-Cost sensor-rich fluidic elastomer actuators embedded with paper electronics","volume":"17","author":"Yang TH","year":"2020","unstructured":"Yang TH, , Shintake J, , Kanno R, et al. Low-Cost sensor-rich fluidic elastomer actuators embedded with paper electronics. Adv Intell Syst, 2020; 17:20000252000025.","journal-title":"Adv Intell Syst"},{"key":"e_1_3_5_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2017.2726348"},{"key":"e_1_3_5_36_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2015.09.041"},{"key":"e_1_3_5_37_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau2489"},{"key":"e_1_3_5_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2645120"},{"key":"e_1_3_5_39_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav1488"},{"key":"e_1_3_5_40_2","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900171"},{"key":"e_1_3_5_41_2","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700016"},{"key":"e_1_3_5_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2009.47"},{"key":"e_1_3_5_43_2","first-page":"13988","volume-title":"In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago","author":"Li R","year":"2014","unstructured":"Li R, , Platt R, , Yuan W, et al. Localization and manipulation of small parts using Gelsight tactile sensing. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago. Piscataway, NJ: IEEE, 2014, pp. 13988\u201313993."},{"key":"e_1_3_5_44_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0052"},{"key":"e_1_3_5_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2514420"},{"key":"e_1_3_5_46_2","first-page":"28","article-title":"Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities","author":"Xiang C","year":"2019","unstructured":"Xiang C, , Guo J, , Rossiter J. Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities. Smart Mater Struct, 2019; 28.","journal-title":"Smart Mater Struct"},{"key":"e_1_3_5_47_2","first-page":"1","volume-title":"In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Madrid","author":"Sakuma T","year":"2018","unstructured":"Sakuma T, , Von Drigalski F, , Ding M, et al. A universal gripper using optical sensing to acquire tactile information and membrane deformation. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Madrid. Piscataway, NJ: IEEE, 2018, pp. 1\u20139."},{"key":"e_1_3_5_48_2","first-page":"1","article-title":"Bistable structures for advanced functional systems","volume":"2106231","author":"Cao YT","year":"2021","unstructured":"Cao YT, , Derakhshani M, , Fang YH, et al. Bistable structures for advanced functional systems. Adv Funct Mater, 2021; 2106231:1\u201323.","journal-title":"Adv Funct Mater"},{"key":"e_1_3_5_49_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tws.2019.04.040"},{"key":"e_1_3_5_50_2","author":"Zhang Z","unstructured":"Zhang Z, , Ni X, , Wu H, et al. Pneumatically actuated soft gripper with bistable structures. Soft Robot 2021 [Epub ahead of print]; DOI:10.1089\/soro.2019.0195.","journal-title":"Soft Robot"},{"key":"e_1_3_5_51_2","first-page":"1","article-title":"Exploiting mechanical instabilities in soft robotics: control, sensing, and actuation","volume":"2106231","author":"Pal A","year":"2001","unstructured":"Pal A, , Restrepo V, , Goswami D, et al. Exploiting mechanical instabilities in soft robotics: control, sensing, and actuation. Adv Mater, 2001; 2106231:1\u201323.","journal-title":"Adv Mater"},{"key":"e_1_3_5_52_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2017.0910"},{"key":"e_1_3_5_53_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2012.01.007"},{"key":"e_1_3_5_54_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2017.0230"},{"key":"e_1_3_5_55_2","first-page":"1","article-title":"A soft, bistable valve for autonomous control of soft actuators","volume":"7986","author":"Rothemund P","year":"2018","unstructured":"Rothemund P, , Ainla A, , Belding L, et al. A soft, bistable valve for autonomous control of soft actuators. Sci Robot, 2018; 7986:1\u201311.","journal-title":"Sci Robot"},{"key":"e_1_3_5_56_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aaz6912"},{"key":"e_1_3_5_57_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb1967"},{"key":"e_1_3_5_58_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-018-9358-2"},{"key":"e_1_3_5_59_2","first-page":"1049","volume-title":"In: 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, Italy","author":"Thuruthel TG","year":"2005","unstructured":"Thuruthel TG, , Abidi SH, , Cianchetti M, et al. A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping. In: 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, Italy. Piscataway, NJ: IEEE, 2005, pp. 1049\u20131054."},{"key":"e_1_3_5_60_2","doi-asserted-by":"publisher","DOI":"10.1080\/19475411.2014.997322"},{"key":"e_1_3_5_61_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.J054648"},{"key":"e_1_3_5_62_2","unstructured":"Erlendur Bogason. Sea Anemone https:\/\/www.youtube.com\/watch?v=KNnJ1mOkIx8 (accessed Aug14 2020)."},{"key":"e_1_3_5_63_2","unstructured":"3D Printers Canada. Tango Materials. www.3dprinterscanada.com\/assets\/uploads\/ProductBrochures\/FullCurePDF3DPrintersCanada.pdf (accessed June10 2020)."},{"key":"e_1_3_5_64_2","unstructured":"Smith M. ABAQUS\/Standard User's Manual Version 6.18. Providence RI: Dassault Syst\u00e8mes Simulia Corp 2018."}],"container-title":["Soft Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1089\/soro.2020.0176","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1089\/soro.2020.0176","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1089\/soro.2020.0176","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T02:05:40Z","timestamp":1777687540000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1089\/soro.2020.0176"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12,1]]},"references-count":63,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2022,12,1]]}},"alternative-id":["10.1089\/soro.2020.0176"],"URL":"https:\/\/doi.org\/10.1089\/soro.2020.0176","relation":{},"ISSN":["2169-5172","2169-5180"],"issn-type":[{"value":"2169-5172","type":"print"},{"value":"2169-5180","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12,1]]}}}