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| adaptive shapes | variable stiffness | actuation method | |
|---|---|---|---|
| DEA-EA soft gripper9 | flat, sphere, cylinder, | no | electricity |
| EA-DEA soft composite gripper13 | flat and concave | no | electricity |
| PneuEA gripper14 | flat, sphere, cylinder | no | pneumatic |
| our work | flat, circular, single/double concave and wavy, piecewise, polynomial, trigonometric, and airfoil shapes | yes | autonomous desorption in the operational environment |
