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Soft compliant grasping is essential in delicate manipulation tasks typically required in manufacturing and/or medical applications to prevent stress concentration at the point of contact. In comparison with their rigid counterparts, the intrinsic compliance of soft grippers offers simpler control and planning of the grasping action, especially where robots are faced with a number of objects varying in shape and size. However, quantitative analysis is rarely utilized in the design anddoi:10.1080/23311916.2017.1285482 fatcat:jjv5oilylbdcxmds3pv7xnmigq