Bioinspired Hierarchical Soft Gripper with Hexagonal and Suction Interfaces for Strain-Guided Object Handling

Bioinspired soft adhesive systems capable of stable and intelligent object manipulation are critical for next-generation robotics. In this study, a soft gripper combining an octopus-inspired suction mechanism with a frog-inspired hexagonal friction pattern was developed to enhance adhesion performance under diverse surface conditions and orientations. The hexagonal pattern, inspired by frog toe pads, contributed to improved stability against tilting and shear forces. The integrated strain gauge enabled real-time monitoring of gripping states and facilitated the detection of contact location and changes in load distribution during manipulation. The system demonstrated robust adhesion under both dry and wet conditions, with adaptability to various object geometries and inclinations. These results suggest broad potential for bioinspired gripping platforms in fields such as collaborative robotics, medical tools, and underwater systems.