We
report here a soft gripper, which combines granular jamming (GJ) and
electroadhesion (EA) as controlled stiffness and adhesion, respectively.
The gripper can operate in GJ, EA, or combined mode that simultaneously
activates GJ and EA. The gripper is suitable for complex manipulation
scenarios that require grasping of objects with different sizes, shapes,
mechanical properties, and surface conditions.
Keywords: Soft robotics, soft grippers, universal grippers,
granular jamming, electroadhesion.