# A soft gripper with variable stiffness inspired by pangolin scales, toothed pneumatic actuator and autonomous controller

> Research article (Robotics and Computer-Integrated Manufacturing, 2019) · cited 145× · AI/ML

**Wikidata**: [openalex:W2970214639](https://www.wikidata.org/wiki/openalex:W2970214639)  
**Source**: https://4ort.xyz/entity/a-soft-gripper-with-variable-stiffness-inspired-by-pangolin-scales-toothed-pneumatic-actuator-and-autonomous-controller