Fig. 6. Programmable delicate and noninvasive kirigami gripper.
a 2D precursor composed of an array of two circular units bridged with a biconcave unit. defines the initial boundary curvature of the units. Yellow arrows are the direction of the uniaxial stretching. Yellow lines and white dashed lines represent the cuts and the boundaries, respectively. b Isometric view of the morphology from bending to encapsulating upon stretching. Red arrows represent the morphing direction of the hemisphere. c–e Side views of the grasping process of a raw quail egg yolk with the increasing applied strain from 0.62 to 1.3, respectively. The inset shows the corresponding front views. f, g Encapsulating a live fish from a petri dish filled with water. h Grasping the super-soft shampoo bubbles from the surface of the water. i Collecting the granular objects (pine nuts) from the super-soft surface of a raw egg yolk. j, k Grasping a human hair (j) and a deadweight (400 g, k). Scale bars = 10 mm.