We report here a soft gripper, which combines granular jamming (GJ) and electroadhesion (EA) as controlled stiffness and adhesion, respectively. The gripper can operate in GJ, EA, or combined mode that simultaneously activates GJ and EA. The gripper is suitable for complex manipulation scenarios that require grasping of objects with different sizes, shapes, mechanical properties, and surface conditions.
Keywords: Soft robotics, soft grippers, universal grippers, granular jamming, electroadhesion.