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Soft robotics has recently gained a significant momentum as a newly emerging field in robotics that focuses on biomimicry, compliancy and conformability with safety in near-human environments. Beside conventional fabrication methods, additive manufacturing is a primary technique to employ to fabricate soft robotic devices. We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a onepiece device. Negative pressure was used for the actuation of the gripperdoi:10.1109/iecon.2017.8217084 dblp:conf/iecon/MutluTAS17 fatcat:tfzugiha25cqlfs5twd2cc6qnu