Universal Gripper for Soft Robotics

Embedded pneumatic networks (PneuNets) enable actuation of large amplitudes in soft elastomers by pressurizing embedded channels.

1. A two-layer device that can achieve continuous shape changes from positive curvature to negative curvature.
2. A starfish like structure that can grasp an uncooked egg.
3. Another starfish like structure that can wrap around and pick up irregular objects, such as a live mouse, without causing any damage.

These devices are essential to make soft robotic manipulators.