Multisensor-Based Autonomous Grasp Planning for Mobile Manipulator Navigation System with a Novel Soft Gripper

Figure 7

Experimental result. (a) The deformation of the fingers with Shore hardness of 30 under different air pressures. (b) The deformation with Shore hardness of 50 under different air pressures. (c) The deformation with Shore hardness of 70 under different air pressures. (d) The relationships between the air pressure and bending angle for different soft fingers.

(a)

(b)

(c)

(d)