A Comparative Analysis and Scoping Review of Soft–Rigid and Industrial Parallel Rigid Grippers

In this research, it is aimed to present a comparative analysis of soft–rigid industrial parallel rigid grippers to compare their technical capabilities and assess the potential for soft–rigid grippers to address the challenge of grasping fragile objects with various shapes and sizes. In this research, 24 soft–rigid grippers are first identified through a scoping review using the Web of Science database, capturing their technical features and performance. Providing a variable stiffness grasp (n = 9, 37.5%) and a limited grasp capability (n = 8, 33.3%) is the most common advantage and challenge, respectively, of soft–rigid grippers. Pneumatic actuators (n = 12, 50.0%), followed by tendon-driven electric rotary actuators (n = 9, 37.5%), are the predominant actuators used for soft–rigid grippers. Soft–rigid grippers are found to have a lower output force-to-weight ratio (n = 9, median (Formula presented.), standard deviation (σ) = 15.17) in comparison to industrial parallel rigid grippers (n = 63, (Formula presented.), (Formula presented.)), but can provide a larger range of motion (n = 20, (Formula presented.), (Formula presented.)). This is the first quantitative comparative analysis between industrial parallel rigid and soft–rigid grippers, enhancing the understanding of their status and prospects in industrial applications. Herein, a common approach is proposed to standardize reporting to facilitate benchmarking between research-based and industrial grippers and highlight controlling soft–rigid grippers is an underexplored area that can enhance the technology's performance.