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. 2023 Mar 22;9(12):eadf5551. doi: 10.1126/sciadv.adf5551

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Fig. 5. — (A) One gripper unit consists of two SES (spider-inspired electrohydraulic soft-actuated) joints mounted on a medium-density fibreboard (MDF) backing with a gelatin end effector on its tip. (B) Three gripper units are positioned equidistant from each other to form a gripper. Biodegradable PLA is used to three-dimensionally (3D) print the gripper mount. (C) Demonstration of a gripper mounted onto a commercial robot arm, disposing of plastic bottles and crumpled paper balls into designated waste containers over the course of time stamps t₁-t₄.