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. 2021 Jul 3;8(17):2100641. doi: 10.1002/advs.202100641

Figure 5.

Figure 5

Trade‐off between maximal suction force and surface conformation/adaptation capability. A) Pull‐off force (F p) of the soft gripper on a smooth glass surface with respect to the applied pressure (P a), depending on the elastomeric material type of the flat membrane. PDMS: polydimethylsiloxane, Eco50: Ecoflex 00‐50, and Eco10: Ecoflex 00‐10. B) Pull‐off force (F p) of the SSG‐Eco10 on different rough surfaces from RS 1 to RS 4. P a is −30.2 kPa for all measurements. C) Pull‐off force (F p) of the SSG‐PDMS on different rough surfaces from RS 1 to RS 4. P a is −30.2 kPa for all measurements. Error bars indicate ±1 standard deviation (SD) of five measurements (n = 5).