  Recently, magnetorheological elastomers have become an interesting smart
material with many new designs for robotics. A variety of applications have
been built with magnetorheological elastomers, such as vibration absorbers,
actuators, or grippers, showing that this material is promising for soft
robotics. In this work, the novel concept of a gripper is proposed, exploring
the features of a magnetorheological elastomer and permanent magnet. The
gripper uses the energy of a permanent magnet to provide a self-closing
gripping mechanism. The usage of flexible material enables one to hold delicate
objects of various shapes. This paper presents the rolling effect of
magnetorheological elastomer and permanent magnet, the design process, and the
features of the soft gripper. The effectiveness of the soft gripper was
validated in a series of experiments that involved lifting different objects.
