Evidence map›Paper›PMID 38617112›Full record

ArticleCyborg and bionic systems (Washington, D.C.)2024

Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length.

Zhuang Zhang, Weicheng Fan, Yongzhou Long, Jiabei Dai, Junjie Luo, Shujie Tang, Qiujie Lu, Xinran Wang, Hao Wang, Genliang Chen

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Cyborg and bionic systems (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.

0numbers the graph read from it
0cells of the map it votes in
7citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

7 citing papers in PubMed.

  1. Review
  2. Bioinspired Morphology-Decoupled Soft Gripper with Enhanced Bidirectional Grasping Capability.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026
    Article
  3. Article
  4. Review
  5. Review
  6. Article
  7. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

10 authors.

Zhuang ZhangState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.ORCID https://orcid.org/0000-0002-3834-3477
Weicheng FanState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Yongzhou LongState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Jiabei DaiState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Junjie LuoState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Shujie TangState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Qiujie LuAcademy for Engineering and Technology, Fudan University, 200433, Shanghai, China.
Xinran WangReds Lab, Dyson School of Design Engineering, Imperial College London, London, SW7 2DB, U.K.
Hao WangState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Genliang ChenState Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers. However, those flexible characteristics limit the strength and the manipulation capacity of soft grippers. In this paper, we introduce a hybrid-driven gripper design utilizing origami finger structures, to offer adjustable finger stiffness and variable grasping range. This gripper is actuated via pneumatic and cables, which allows the origami structure to be controlled precisely for contraction and extension, thus achieving different finger lengths and stiffness by adjusting the cable lengths and the input pressure. A kinematic model of the origami finger is further developed, enabling precise control of its bending angle for effective grasping of diverse objects and facilitating in-hand manipulation. Our proposed design method enriches the field of soft grippers, offering a simple yet effective approach to achieve safe, powerful, and highly adaptive grasping and in-hand manipulation capabilities.

Identifiers

PMID38617112
PMCPMC11014077

What OpenQuestion holds

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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.