# Soft Gripping: Specifying for Trustworthiness

arXiv: https://arxiv.org/abs/2307.01159 · HTML: https://mlsanity.com/paper/2307.01159/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 4 of its 35 references that are in the map.
- First posted on arXiv 3 Jul 2023.

## Builds on (most cited first, 4 of 4)

- [On Specifying for Trustworthiness](https://mlsanity.com/paper/2206.11421/) (2022)
- [A Principles-based Ethics Assurance Argument Pattern for AI and Autonomous Systems](https://mlsanity.com/paper/2203.15370/) (2022)
- [Trustworthy Autonomous Systems (TAS): Engaging TAS experts in curriculum design](https://mlsanity.com/paper/2202.07447/) (2022)
- [Fire Resistance Deformable Soft Gripper Based on Wire Jamming Mechanism](https://mlsanity.com/paper/1912.01996/) (2019)

## Abstract (arXiv)

Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are not trusted, they will not be used to their full potential. In order to demonstrate trustworthiness, a specification needs to be formulated to define what is trustworthy. However, even for soft robotic grippers, which is one of the most mature areas in soft robotics, the soft robotics community has so far given very little attention to formulating specifications. In this work, we discuss the importance of developing specifications during development of soft robotic systems, and present an extensive example specification for a soft gripper for pick-and-place tasks for grocery items. The proposed specification covers both functional and non-functional requirements, such as reliability, safety, adaptability, predictability, ethics, and regulations. We also highlight the need to promote verifiability as a first-class objective in the design of a soft gripper.