Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only are these highly adaptable grippers capable of static grasping of an object, but also they can be utilized for performing object manipulation tasks. Plenty of contemporary studies have been emphasizing on static grasping ability of soft grippers. However, in this thesis, planar in-hand object manipulation in a soft gripper which comprises a pair of soft finger is investigated.

中文翻译：

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具有物体动态不确定性的流体驱动软爪的控制与实现

用于稳定抓握物体并具有高柔顺性的软抓手被认为是替代传统刚性抓手的合适人选，并且近年来，它们已在工业中呈指数增长。这些高度适应性的抓具不仅能够静态抓握物体，而且还可以用于执行物体操纵任务。许多当代研究一直强调软抓具的静态抓握能力。然而，在本文中，研究了在包括一对软手指的软抓具中的平面内手部物体操纵。