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Optimal Design and Analytical Modeling of a Soft Fin-Ray Effect Gripper Finger Using the Finite Rigid Elements Method

arXiv:2606.03798v1 Announce Type: new Abstract: Fin Ray-inspired soft grippers offer a promising solution for gently handling delicate, irregular objects, especially in agriculture. The objective of this research is to design, fabricate, and model a Fin Ray Effect (FRE) soft gripper finger to enable precise force control in future applications. This design aims to gently grasp delicate agricultural products, such as tomatoes, that require both adaptability and accurate force application.

arXiv CS 7d ago