Figure 13From: A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton StructureGripping force testing circuit. 1. Air source; 2. Dryer; 3. Reducing valve; 4. Shut-off valve; 5, 6, 7, 8. Proportional pressure valve; 9. Throttle valve; 10. Solenoid directional valve; 11. Tension sensor; 12. Cylinder; 13. E-Gripper; 14. Sphere; 15. ComputerBack to article page