Self-Closing Kirigami Gripper for Gripping of Soft Objects

We have proposed a kirigami gripper with a self-closing function. Though conventional kirigami grippers require external force to maintain grip, our proposed kirigami gripper does not require external force to maintain grip because a reaction force from the kirigami structure is used to close. Therefore, our gripper enables energy-free and long-term gripping. In addition, the fabrication is simple, using a single sheet with cutting patterns, allowing for miniaturization and use of various materials. Furthermore, the gripper operates gently, avoiding damage to delicate targets, so we can handle extremely soft and small objects, such as silicone rubber, gels, and liquid droplets. This technology holds potential for applications in biomedical and chemical fields, including drug delivery and droplet-based testing.