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About this paper
Kurt Enkera, Joshua Pinskier, Marcus Gallagher, David Howard
SimTO-Robust redesigns soft gripper fingers to handle variation across objects and grasp poses. It simulates grasps, combines selected contact forces, and uses them to update finger morphology through topology optimization. In physical tests, 24 selected designs completed the first pick-and-place stage in 86.2% of grasps, versus 67.3% for 10 SimTO designs, within the tested objects, poses, and protocol.
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