Soft and Rigid Gripper Comparision

The observed trends in the success rates of soft and rigid grippers show a degree of similarity, but the performance of rigid grippers is marginally inferior to their soft counterparts. This disparity is primarily attributed to the inability of rigid fingers to conform to the contours of the objects they are handling. Consequently, rigid grippers exhibit a reduced contact area compared to soft grippers, leading to lower friction forces and localized pressure concentration. Such characteristics significantly damage the functionality of rigid grippers, especially when handling stiff objects. In these scenarios, the lack of deformation in both the gripper and the object results in minimal contact area, as evidenced in the handling of items like tape, pomegranate, and pomelo.

Contrastingly, despite achieving comparable success rates in grasping certain objects, rigid grippers have been identified as causing damage to delicate items, such as fruits. This detrimental effect arises from the inherently inflexible nature of these grippers, which can apply excessive force and pressure on soft surfaces, resulting in bruising or puncturing. Soft grippers, on the other hand, owing to their compliant design, are capable of handling the same fragile objects without inflicting any noticeable harm. This preserves the integrity of the objects. The use of soft grippers is particularly vital in fields where maintaining the object's condition post-manipulation is crucial, such as in the food processing and healthcare sectors.