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Soft robotic grippers were developed to collect fragile reef organisms more gently than rigid, industrial-style tools. In a 2016 study, researchers tested two custom designs—bellows-type and boa-type grippers—on a modified research ROV. The work was intended for biological sampling, not literal “tickling,” and it did not establish that every specimen emerged undamaged.
Why use soft grippers for reef sampling?
Corals and sponges can be damaged by rigid jaws designed for forceful industrial work. The research team therefore built compliant robotic end effectors to handle organisms whose size, shape, and stiffness could vary. Harvard engineering professor Robert J. Wood described the problem with existing equipment as rigid “Jaws of Life-type” grippers that were “totally overpowered” for the task. Harvard’s account of the project explains the motivation behind the alternative.
The word “tickle” in the headline is a playful metaphor. The grippers were purpose-built sampling tools, not devices designed to interact with marine animals for amusement.
How the two gripper designs worked
Galloway and colleagues’ 2016 paper describes soft actuators attached to a modular palm. The compliant construction and adjustable configuration were intended to help the tool accommodate uncertainty in a target specimen’s dimensions and form. The team tested two designs rather than a single universal finger:
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- [Strong versatility]The Soft Robot Gripper Claw can quickly grasp special-shaped objects without the need for custom shapes, and one claw can grasp objects of multiple specifications without the need for a quick-change system.
- [Structural flexibility]The Soft Robot Gripper Claw Will not scratch or scratch objects (such as glasses, fruits), and will not scratch when grasping (such as parts with high surface requirements)
- [Industrial design]The Soft Robot Gripper Claw structural parts are machined by aluminum parts as a whole, with high precision and light weight.Highest repeatability: 0.08mm, Grabbed object size:10-120mm
- [Wide Wrking Voltage]The Soft Robot Gripper Claw support 12V-24V input, compatible with common industrial voltages. It also provides enough power to grab large objects.
- [Development] The Soft Robot Gripper Claw develpment kit come with Soft Robot Gripper Claw, Driver board and power. Provide C demo , SCH
| Design | What the available study description establishes | Comparison caveat |
|---|---|---|
| Bellows-type | A custom soft-gripper design tested for biological sampling. | The available evidence does not establish a general performance winner. |
| Boa-type | A second custom soft-gripper design tested for biological sampling. | The available evidence does not establish a general performance winner. |
The paper’s account centers on configurable, compliant tools for specimens of varied size and shape; it does not support ranking one design as best in all situations. For the study itself, see Galloway et al., “Soft Robotic Grippers for Biological Sampling on Deep Reefs”, published in Soft Robotics in 2016.
What was tested underwater—and what was pressure-tested separately?
The researchers used a modified Saab Seaeye Falcon research ROV for in-situ sampling at mesophotic depths. The ROV was rated to 300 meters. Separately, the paper reports pressure testing of two fiber-reinforced actuators at approximately 800 meters. That actuator test is not evidence that the ROV descended to 800 meters.
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- Flexible fin-shaped fingers adapt to various shapes for secure gripping
- Gentle surface contact helps protect items from damage during handling
- Pneumatic-controlled operation ensures consistent and reliable performance
- Lightweight yet durable construction offers long-lasting daily use
- Ideal for robotics, assembly lines, packaging, labs, and educational projects requiring precise, safe grasping
The paper describes bench characterization as well as underwater sampling and actuator pressure testing. Its publication details are Soft Robotics, volume 3, issue 1, pages 23–33 (2016). These engineering tests demonstrate work on the prototypes under specified conditions, not broad proof of performance across all deep-sea environments.
Did the grippers leave specimens unharmed?
The paper presents the work as nondestructive sampling, but that description should not be read as a guarantee that every collection caused zero damage. In his 2016 IEEE Spectrum report, Evan Ackerman noted visible damage in some footage and identified the lack of haptic feedback during remote operation as a limitation. The report does not establish a quantified damage rate, so it cannot support a claim that the tools always—or usually—left specimens intact.
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- Pneumatic Accessories
Remote operators have to judge contact through the camera rather than through touch conveyed by the gripper. That makes delicate manipulation harder: compliant hardware may reduce the risk from rigid jaws, but it cannot by itself give an operator tactile feedback or guarantee a harmless grasp.
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No matching retail product is established by the study or the project accounts. The bellows-type and boa-type devices were custom research prototypes built for biological sampling. The work describes a modular tool with components that could be modified or repaired in the field, but that design goal does not mean a consumer version or compatible replacement parts were offered for sale.
Quick Recap
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- [Learning]: This clamp can be used for the function model realization. Maybe the precision is not high, but you can learn how to control the robot claw with servo motor by the controller, like Arduino, Raspberry pie.
- [Function]: You can use this clamp / gripper to realize some useful functions, e.g., use this robot claw to grip some items to the destinations. Many people use this claw to factory applications, experiments, and other repeat applications. It is the best functional realization model for the later big robot arm in the real production.
- [Programming]: As for this mechanical robot arm claw, you can learn the robotic structure. Importantly, you can learn how to use the electronics and servos via the code programming to control the gripper to the destinations, Arduino coding, Raspberry pie, Microbit, 51 MCU and other control main board.
- [Note]: The claw or gripper is UNASSEMBLED for shipping convenience. But it is not difficult to assemble it by the provided the installation manual with this item or visit gitnova to get the documents, or contact us to get the document.
- [What You Get]: You will get: 1set unassembled gripper G2, 1 bag screw, and 1pc MG996R servo. This claw is metal including many accessories, so please have patience to install the claw. After that, the claw is very beautiful and solid. Any questions about the product, please don't hesitate to contact us. This robot arm gripper is a research and learning kit for adult college students.
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