TABLE I.

Experimental motion control results of soft grippers for point-to-point, circular and square trajectories. The average speeds and Euclidean-norm of average positioning error are reported with the respective standard deviation (150 and 15 experimental trials are conducted for grippers without and with the micro-sized non-magnetic payload, respectively).

	Grippers without micro-sized payload		Grippers with micro-sized payload
Experiment	Average speed	Error	Average speed	Error
Point to point	0.8±0.1 mm/s	0.12±0.05 mm	1.1 ±0.06 mm/s	0.23±0.04 mm
Circular	0.62±0.13 mm/s	0.12±0.09 mm	1.08 ±0.04 mm/s	0.17±0.12 mm
Square	0.73±0.11 mm/s	0.09±0.1 mm	1.08±0.04 mm/s	0.13±0.12 mm