{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:58:15Z","timestamp":1785545895516,"version":"3.56.0"},"reference-count":50,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T00:00:00Z","timestamp":1764720000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["52205032"],"award-info":[{"award-number":["52205032"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100006355","name":"Shun Hing Institute of Advanced Engineering","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100006355","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100021171","name":"Basic and Applied Basic Research Foundation of Guangdong Province","doi-asserted-by":"crossref","award":["2023A1515010062"],"award-info":[{"award-number":["2023A1515010062"]}],"id":[{"id":"10.13039\/501100021171","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100002920","name":"Research Grants Council, University Grants Committee","doi-asserted-by":"crossref","award":["14204423"],"award-info":[{"award-number":["14204423"]}],"id":[{"id":"10.13039\/501100002920","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2026,4,1]]},"abstract":"<jats:p>\n                    Grasping objects across vastly different sizes and physical states\u2014including both solids and liquids\u2014with a single robotic gripper remain a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft end-effector that synergistically integrates distributed surface suction with internal granular jamming, enabling cross-scale and cross-state manipulation without requiring airtight sealing at the contact interface with target objects. The EG Gripper can handle objects with surface areas ranging from submillimeter scale 0.2 mm\n                    <jats:sup>2<\/jats:sup>\n                    (glass bead) to over 62,000 mm\n                    <jats:sup>2<\/jats:sup>\n                    (A4-sized paper and woven bag), enabling manipulation of objects nearly 3500\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mo>\u00d7<\/mml:mo>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    smaller and 88\n                    <jats:inline-formula>\n                      <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"inline\" overflow=\"scroll\">\n                        <mml:mo>\u00d7<\/mml:mo>\n                      <\/mml:math>\n                    <\/jats:inline-formula>\n                    larger than its own contact area (approximated at 707 mm\n                    <jats:sup>2<\/jats:sup>\n                    for a 30 mm diameter base). We further introduce a tactile sensing framework that combines liquid detection and pressure-based suction feedback, enabling real-time differentiation between solid and liquid targets. Guided by the Tactile-Inferred Grasping Mode Selection algorithm, the gripper autonomously selects grasping modes based on distributed pressure and voltage signals. Experiments across diverse tasks\u2014including underwater grasping, fragile object handling, and liquid capture\u2014demonstrate robust and repeatable performance. To our knowledge, this is the first soft gripper to reliably grasp both solid and liquid objects across scales using a unified compliant architecture.\n                  <\/jats:p>","DOI":"10.1177\/21695172251400144","type":"journal-article","created":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T16:24:03Z","timestamp":1765383843000},"page":"178-189","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Everything-Grasping Gripper: A Universal Gripper with Synergistic Suction\u2013Grasping Capabilities for Cross-Scale and Cross-State Manipulation"],"prefix":"10.1177","volume":"13","author":[{"given":"Jianshu","family":"Zhou","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing","family":"Shu","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."},{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianle","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Puchen","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiajun","family":"An","sequence":"additional","affiliation":[{"name":"Multi-Scale Medical Robotics Center, Hong Kong, China."},{"name":"Department of Agricultural and Biological Engineering, Purdue University, West Lafayette, Indiana, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huayu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junda","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Upinder","family":"Kaur","sequence":"additional","affiliation":[{"name":"Department of Agricultural and Biological Engineering, Purdue University, West Lafayette, Indiana, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Ma","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."},{"name":"Multi-Scale Medical Robotics Center, Hong Kong, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Masayoshi","family":"Tomizuka","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,12,3]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aat8414"},{"key":"e_1_3_3_3_2","doi-asserted-by":"crossref","unstructured":"Bicchi A Kumar V. 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