{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T16:22:50Z","timestamp":1777134170164,"version":"3.51.4"},"reference-count":98,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2023,1,2]],"date-time":"2023-01-02T00:00:00Z","timestamp":1672617600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100009157","name":"National Institute on Disability, Independent Living, and Rehabilitation Research","doi-asserted-by":"publisher","award":["90DPGE0018-01-00"],"award-info":[{"award-number":["90DPGE0018-01-00"]}],"id":[{"id":"10.13039\/100009157","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.<\/jats:p>","DOI":"10.3390\/robotics12010005","type":"journal-article","created":{"date-parts":[[2023,1,3]],"date-time":"2023-01-03T02:33:21Z","timestamp":1672713201000},"page":"5","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":86,"title":["Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review"],"prefix":"10.3390","volume":"12","author":[{"given":"Jaime","family":"Hernandez","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6584-1877","authenticated-orcid":false,"given":"Md Samiul Haque","family":"Sunny","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"}]},{"given":"Javier","family":"Sanjuan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7448-5755","authenticated-orcid":false,"given":"Ivan","family":"Rulik","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3491-0240","authenticated-orcid":false,"given":"Md Ishrak Islam","family":"Zarif","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA"}]},{"given":"Sheikh Iqbal","family":"Ahamed","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Marquette University, Milwaukee, WI 53233, USA"}]},{"given":"Helal Uddin","family":"Ahmed","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6370-8757","authenticated-orcid":false,"given":"Mohammad H","family":"Rahman","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"},{"name":"Department of Computer Science, University of Wisconsin-Milwaukee, Milwaukee, WI 53212, USA"},{"name":"Biorobotics Laboratory, University of Wisconsin Milwaukee, Milwaukee, WI 53212, USA"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1830","DOI":"10.1109\/TMECH.2020.2997743","article-title":"Optimal Design of a Motor-Driven Three-Finger Soft Robotic Gripper","volume":"25","author":"Liu","year":"2020","journal-title":"IEEE\/ASME Trans. 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