ISC internal support clamp is a flexible end-effector, whose design mimics mimicking self-defense morphology of puffer fish. Through inflating air with pressure, the fixture can expand and complete internal support grasping. Due to the contact part with the workpiece being soft silicon rubber, after adding pressure, there will be an air cushion layer between the rigid supporting and the contact surface, making the stress uniform and not likely to damage the workpiece. In addition, input air pressure can be adjusted to control the extension of the airbag and stress contacting with the workpiece, so that it significantly increases the softness of the grasping system. P series：Directly attached heads-more compact. S Series: With upper and lower seals for higher loads