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A novel soft-robotic gripper design is presented, with three soft bending fingers and one passively adaptive palm. Each soft finger comprises two ellipse-profiled pneumatic chambers. Combined with the adaptive palm and the surface patterned feature, the soft gripper could achieve 40-N grasping force in practice, 10 times the self-weight, at a very low actuation pressure below 100 kPa. With novel soft...
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