Title Page
Abstract
Contents
Chapter 1. Introduction 6
Chapter 2. Design and Fabrication 8
2.1. Soft gripper design and working principle 8
2.2. Soft sensor design and working principle 10
Chapter 3. Gripper and Sensor Performance 12
3.1. Holding force 12
3.2. Single ply gripping 18
3.3. Sensing Performance 20
Chapter 4. Conclusion 26
Bibliography 27
Abstract in Korean 29