Table 2.
Comparison of soft grippers of their performance (FE: fluidic elastomer; DE: dielectric elastomer; IPMC: ionic polymer‐metal composites; SMA: shape memory alloy; PG: pneumatic gripper; SMP: shape memory polymer; LCE: liquid crystal elastomer)
| Category (By materials) | Lifting ratio (Object mass/gripper mass) | Gripper size [10−2 m] | Response time [s] |
|---|---|---|---|
| FE | 2[ 193 ]–68[ 194 ] | 0.5[ 195 ]–120[ 196 ] | 0.1[ 197 ] |
| DE | 5.5[ 198 ]–100.8[ 199 ] | 2[ 200 ]–10.3[ 201 ] | 0.1[ 201 ] |
| IPMC | 2[ 202 ]–3.5[ 203 ] | 0.5[ 203 ]–8[ 204 ] | 0.33[ 205 ] |
| SMA | 15[ 206 ]–25.8[ 207 ] | 0.9[ 208 ]–11.5[ 209 ] | 0.15[ 206 ] |
| PG | 13[ 210 ]–38.3[ 211 ] | 0.5[ 195 , 212 ]–148[ 213 ] | 0.1[ 197 ] |
| SMP | 48.9[ 214 ] | 0.4[ 215 ]–6[ 216 ] | 10[ 217 ] |
| LCE | 210[ 218 ] | 0.03[ 219 ]–3[ 220 ] | 0.2[ 221 ] |