Fingerless soft gripper efficiently generating multiple grasping modes. Inflation opens an orifice for enveloping an object, and subsequent deflation yields grasping forces. A gecko-inspired skin increases friction, enabling the gripper to lift objects weighing more than 20 N. Fragile objects can be safely handled, by virtue of a wall buckling mechanism. Interior-orifice grasping and suction grasping expand the repertoire of the gripper

Y. Hao et al., A Multimodal, Enveloping Soft Gripper. IEEE Transactions on Robotics, 2020.