Bistable Miura-ori soft gripper for adaptive and rapid capture

Soft grippers have been widely applied in various fields due to their flexibility and compliance. However, conventional soft grippers with two or more fingers and actuated by fluid respond slowly, their grasping range is limited, and they are prone to slipping small and scattered targets through their fingers. This paper proposes a soft gripper inspired by origami and bionic principles. The gripper is constructed with a variable-angle Miura-ori curved structure, which features a large deformation ratio and high impact resistance, making it suitable for adaptive grasping of various targets. In the passive grasping mode, the gripper can respond within 37ms, making it suitable for capturing fast-moving targets such as drones and space debris. Additionally, the gripper's low trigger energy requirement enhances energy efficiency and broadens its potential application fields.