## 1 Introduction
The prototype gripper operates based on the Bernoulli principle of generating a high-speed flow between the gripper plate and the product surface, thereby creating a vacuum that is used to lift and, subsequently, move the product. The basic working principle of the handling device, together with the experimental results of the feasibility of the proposed device, are presented. The experimental results suggest that the Bernoulli-principle-based handling device can be used to lift food of different textures and shapes. However, the device faces difficulty in lifting food with smooth surfaces. A non-contact end-effector was applied to lift three different materials of different physical properties, as represented in paper [40]. These materials were mica (as a rigid material), carton (as a semi-rigid material), and woven fabric (as a non-rigid material). This end-effector operated on the principle of generating a high-speed air flow between the nozzles and the specimen surface, thereby creating a vacuum which levitated the materials with no mechanical contact. In this paper, the handling results of these materials were compared with each other. The changes in the physical behavior of lifting the materials were observed during the experimental work. The effect of the various air flow rates on the non-contact handling clearance gap between the nozzle and the materials was also investigated. As a result, it was observed that the non-contact end-effector could be applied to handle different flat materials. The functional advantages of the application of contactless Bernoulli grippers with an annular nozzle at the robotization of the handling operations are given in paper [55]. The method of calculation of the power characteristics of Bernoulli grippers is presented. The computational modeling of the dynamics of the air flow in a camera, an annular nozzle of a Bernoulli gripper, and a radial interval between its active surface and the surface of a flat object of transportation is, for this purpose, carried out. Modeling is carried out in the environment of computing the hydraulic gas dynamics of Ansys-CFX with the use of an SST of a \(\gamma\)-model of turbulence. For an increase in the power characteristics of Bernoulli grippers, options for the constructive improvement of a form of an annular nozzle and its active surface are offered. The results of computational modeling of Bernoulli grippers with different design data are presented, and contrastive analysis is carried out. Grippers are routinely used to hold, lift, and move organs in laparoscopic operations, as discussed in paper [56]. The grippers are generally toothed to prevent organs from slipping during retention. Organs held by grippers are always at risk of being damaged by the clamping force. In this study, noncontact grippers working with the Bernoulli principle and using air pressure were developed, and vacuum performance was compared in terms of maximum tissue weight holding capacity. For this purpose, the Taguchi method was employed for the experimental design and optimization, and the Taguchi L16 orthogonal array was selected for the experimental design. The experimental parameters were four gripper types, four air-pressure levels (3.5, 4.5, 5, and 5.5 bar), four flow rates (2.2, 2.6, 2.8, and 3 m\({}^{3}\)/h), and two animal tissue types (ventriculus/gizzard and skin). The values from the experimental procedures were evaluated using signal-to-noise ratio, analysis of variance, and three-dimensional graphs. An equation was obtained by using third order polynomial regression model for weight values. The optimization reliability was tested by validation tests, and the revealed test results were within the estimated confidence interval. The results obtained from this study are important for future studies in terms of organ injury prevention due to traditional grippers in laparoscopic surgery.