Fig. 4.

Results of the opening and closing characterization of the soft grippers (15 experimental trials): The red and blue lines show the average configuration of the grippers when they are heated and cooled, respectively. The corresponding shaded areas depict the standard deviations. The coefficient C is an indicator of the configuration of the grippers and varies from 1 (for an open configuration) to 0 (for a closed configuration). The value is computed as $C=\frac{D(T)-D_{closed}}{D_{open}-D_{closed}}$, where D(T) is the diameter of the contour of the gripper at temperature T, D_closed and D_open are the diameter values for the completely closed and open gripper, respectively. The scale bar is 0.8 mm.