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<p>Soft robots have attracted considerable research interest for their compliance and adaptability in handling delicate objects. Conventional designs often focus on morphological adaptation to target shapes, they frequently lack effective responses to the challenges of target grasping in unstructured environments, such as obstacles and environmental temperature factors. We present a soft gripper capable of simultaneous twisting and active thermal control. The system combines twist, grasp, and cooling modules via snap-fit connections, enabling rapid functional reconfiguration. Its core innovation lies in the integration of a TEC module between the torsional and gripping actuators enabled by superelastic composites, establishing an active, controllable low-temperature environment at the end-effector. Experiments demonstrate that the TEC system reduces contact temperature by up to 14 <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(^{\circ }\)</EquationSource> </InlineEquation>C in a 25 <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(^{\circ }\)</EquationSource> </InlineEquation>C ambient, with a spatial thermal gradient below 1.5 <InlineEquation ID="IEq3"> <EquationSource Format="TEX">\(^{\circ }\)</EquationSource> </InlineEquation>C across the fingertip, while the modular gripper performs combined twist-grasp operations with a maximum rotation of 122<InlineEquation ID="IEq4"> <EquationSource Format="TEX">\(^{\circ }\)</EquationSource> </InlineEquation>. This work validates a reconfigurable soft robotic platform with active thermal management that significantly expands potential applications in food processing, biomedical engineering, and advanced manufacturing.</p>

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A soft torsion gripper with integrated twisting and thermal control enabled by superelastic composites

  • 期刊论文

  • 发表日期：

    2026年7月2日

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  • Zixin Zhan,
  • Haiqiang Liu,
  • Qilei Shen

摘要

Soft robots have attracted considerable research interest for their compliance and adaptability in handling delicate objects. Conventional designs often focus on morphological adaptation to target shapes, they frequently lack effective responses to the challenges of target grasping in unstructured environments, such as obstacles and environmental temperature factors. We present a soft gripper capable of simultaneous twisting and active thermal control. The system combines twist, grasp, and cooling modules via snap-fit connections, enabling rapid functional reconfiguration. Its core innovation lies in the integration of a TEC module between the torsional and gripping actuators enabled by superelastic composites, establishing an active, controllable low-temperature environment at the end-effector. Experiments demonstrate that the TEC system reduces contact temperature by up to 14 \(^{\circ }\) C in a 25 \(^{\circ }\) C ambient, with a spatial thermal gradient below 1.5 \(^{\circ }\) C across the fingertip, while the modular gripper performs combined twist-grasp operations with a maximum rotation of 122 \(^{\circ }\) . This work validates a reconfigurable soft robotic platform with active thermal management that significantly expands potential applications in food processing, biomedical engineering, and advanced manufacturing.