Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery

1 Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, United States, 2 Materials Science and Engineering, Johns Hopkins University, Baltimore, MD, United States, 3 Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA – Institute for Biomedical Technology and Technical Medicine, University of Twente, Enschede, Netherlands, 4 Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore, MD, United States, 5Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, Netherlands