Date of Award


Document Type


Degree Name

Master of Science in Engineering (MSE)


Electrical and Computer Engineering

Committee Chair/Advisor

Dr. Ian Walker

Committee Member

Dr. Richard Groff

Committee Member

Dr. Apoorva Kapadia


We discuss the potential of soft webs to enhance robotic grasping. Specifically, we explore a novel combination of compliant continuum digits interspersed with a flexible material. The resulting webbed structure offers the potential for new modes of robust and adaptive object grasping. We introduce and describe two webbed grippers featuring alternate modes of actuation: pneumatic muscles and remotely actuated tendons. Experiments with the grippers demonstrate their ability to gently capture small, fragile, and non-cooperative objects.



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