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This document presents the design, fabrication, and characterization of a soft cable-driven gripper optimized through a topology optimization approach. The gripper, developed using a level set method, can handle various unknown objects and is capable of different grasping modes, demonstrating its versatility in soft robotics applications. The study emphasizes the importance of modeling interactions with objects and incorporates uncertainties in contact forces to enhance the optimization process.

Author

Huy Tran

Language

EN