{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T16:21:18Z","timestamp":1777134078849,"version":"3.51.4"},"reference-count":35,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2022,7,14]],"date-time":"2022-07-14T00:00:00Z","timestamp":1657756800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2023,6,6]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Soft grippers have safer and more adaptable human\u2013machine and environment\u2013machine interactions than rigid grippers. However, most soft grippers with single gripping postures have a limited gripping range. Therefore, this paper aims to design a soft gripper with variable gripping posture to enhance the gripping adaptability.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper proposes a novel soft gripper consisting of a conversion mechanism and four spring-reinforced soft pneumatic actuators (SSPAs) as soft fingers. By adjusting the conversion mechanism, four gripping postures can be achieved to grip objects of different shapes, sizes and weights. Furthermore, a quasi-static model is established to predict the bending deformation of the finger. Finally, the bending angle of the finger is measured to validate the accuracy of the quasi-static model. The gripping force and gripping adaptability are tested to explore the gripping performance of the gripper.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Through experiments, the results have shown that the quasi-static model can accurately predict the deformation of the finger; the gripper has the most significant gripping force under the parallel posture, and the gripping adaptability of the gripper is highly enhanced by converting the four gripping postures.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>By increasing the gripping posture, a novel soft gripper with enhanced gripping adaptability is proposed to enlarge the gripping range of the soft gripper with a single posture. Furthermore, a quasi-static model is established to analyze the deformation of SSPA.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-04-2022-0103","type":"journal-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T15:09:35Z","timestamp":1657638575000},"page":"595-608","source":"Crossref","is-referenced-by-count":6,"title":["A novel soft gripper with enhanced gripping adaptability based on spring-reinforced soft pneumatic 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