Figure 4.

A soft gripper powered by the soft EHD pump. a) The schematic of the soft pump transfering the dielectric liquid between two liquid reservoirs to generate positive/negative pressure used to open/close the gripper. b) The positive pressure produced by the four pump units connected in series is used to close the gripper. c,d) show the bending angle and blocking force of the pneumatic/hydraulic actuator composing the gripper under the activating of forward‐aligned four pump units. e–h) show the gripper grasp of different objects with different weights. i–n) The potential for use in vertical farming is demonstrated by the gripper mounted on a soft robotic arm.