Ultragentle manipulation of delicate structures using a soft robotic gripper

Nina R. Sinatra; Clark B. Teeple; Daniel M. Vogt; Kevin Kit Parker; David F. Gruber; Robert J. Wood

doi:10.1126/scirobotics.aax5425

Research ArticleUNDERSEA ROBOTS

Ultragentle manipulation of delicate structures using a soft robotic gripper

Nina R. Sinatra¹,*,
Clark B. Teeple ¹,
Daniel M. Vogt¹,
Kevin Kit Parker¹,
David F. Gruber²,³ and
Robert J. Wood¹

¹John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.
²Department of Natural Sciences, Baruch College, City University of New York, 55 Lexington Ave., New York, NY 10010, USA.
³PhD Program in Biology, Graduate Center, City University of New York, 365 5th Ave., New York, NY 10016, USA.

↵*Corresponding author. Email: sinatra.nina{at}gmail.com

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Science Robotics 28 Aug 2019:
Vol. 4, Issue 33, eaax5425
DOI: 10.1126/scirobotics.aax5425

Nina R. Sinatra

John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.

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For correspondence: sinatra.nina@gmail.com

Clark B. Teeple

John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.

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Daniel M. Vogt

John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.

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Kevin Kit Parker

John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.

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David F. Gruber

Department of Natural Sciences, Baruch College, City University of New York, 55 Lexington Ave., New York, NY 10010, USA.PhD Program in Biology, Graduate Center, City University of New York, 365 5th Ave., New York, NY 10016, USA.

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Robert J. Wood

John A. Paulson School of Engineering and Applied Sciences and the Wyss Institute for Biologically Inspired Engineering, Harvard University, 29 Oxford Street, Cambridge, MA 02138, USA.

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