Adaptive Compliant Gripper

This simulator contrasts a rigid, fixed-force robotic gripper with an adaptive compliant one across two very different objects: a fragile berry and a heavy dumbbell. The fixed gripper clamps with the same preset force every time, so it either crushes the delicate berry or applies too little grip to stop the heavy dumbbell sliding free under its own weight. The adaptive gripper instead closes gradually, continuously watching a simulated slip signal from its fingertip sensors, and increases force only while the object is still slipping — settling on the minimum sufficient grip for whatever it happens to be holding, while respecting a maximum safe pressure so it never crushes what it's not supposed to. The live chart tracks grip force and slip signal through every attempt.