Fig. 9From: A vacuum-driven rubber-band gripperPerformance of gripping objects of various shapes: a a bottle; b a small triangular prism; c a large triangular prism; d a plate; e a cone; f a cross-shaped prism. The gripper wrapped it around the bottle, plate, and cone without any gaps. The gripper wrapped it around triangular prisms. However, larger gaps were observed for the smaller triangular prism. For a cone, the gripper twists and wraps around the slope. For a cross-shaped prism, gaps appeared in concave areasBack to article page