Original title: ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
Roman Mykhailyshyn, Domae Yukiyasu, Harada Kensuke · September 2026
Robots struggle to grasp and firmly hold tools during tasks like taking things apart, where rapid adaptation is crucial. Existing robotic grippers face major limits when handling tools during operation. To solve this, researchers built ARTiS, an adaptive robotic tool gripper. It merges the flexibility of soft grippers, the dexterity of human-like hands, and the strength of rigid systems. The gripper works using a soft palm that firms up through active jammingA method where a soft structure becomes rigid by changing internal pressure or state. and soft fingertips that bend around shapes using fin-ray adaptationA flexible structure that bends and conforms to objects based on fish fin mechanics.. Seven degrees of freedomThe number of independent ways a robot joint can move., meaning seven independent ways the parts can move, allow the fingertips to align with any surface. When tested across a range of conventional disassembly tools, the gripper demonstrated compliance, durability, and functional versatility.
Imagine you are using a wrench to tighten a bolt. You need a firm grip on the handle but also the flexibility to adjust your hold as the bolt turns. Your hand naturally changes shape and pressure to maintain control. Here, the robotic gripper uses a soft palm that can stiffen and flexible fingertips that conform to the wrench, mimicking how your hand adapts during the task.
For people in recycling or manufacturing, disassembly tasks need robots that handle tools adaptively. This gripper could make those tasks more consistent and efficient, reducing manual effort.
The abstract does not explicitly state limitations, but it notes that evaluation was conducted with conventional disassembly tools, implying that performance with other tool types or in different environments may not be addressed.
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ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications — Roman Mykhailyshyn, Domae Yukiyasu, Harada Kensuke
Abstract licence: CC0
Explanation generated by Synthesis from the abstract — it is not the original paper. This is a preprint, so it hasn't necessarily been peer reviewed.