{
  "annotation_id": "f76f3105-e875-4143-aac2-f63b0bea3981",
  "date_created": "2026-02-17T05:53:19.842000Z",
  "date_modified": "2026-02-17T05:53:19.842000Z",
  "file_hash": "b1ee970c09dc0e4615b46ae48fa124ac94e9e733002b79c1c6f9c02809319b1c",
  "private": false,
  "record": {
    "abstract": "This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle.",
    "arxiv_id": "2601.09104",
    "authors": [
      "Ko Yamamoto",
      "Kyosuke Ishibashi",
      "Hiroki Ishikawa",
      "Osamu Azami"
    ],
    "categories": [
      "cs.RO"
    ],
    "doi": "10.1080/01691864.2025.2608943",
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "title": "Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object",
    "url": "https://arxiv.org/abs/2601.09104",
    "version": "v1"
  },
  "schema_id": "dorsal/arxiv",
  "source": {
    "execution_id": "46c95059-a03f-4063-b71a-c9f61f5639bd",
    "id": "arXiv Dataset",
    "type": "Model",
    "variant": "snapshot-2026-01-17",
    "version": "0.1.0"
  },
  "user_id": 1000002
}