Hi @Julie_A, thank you for posting your question and sorry to hear that you’ve had limited help with previous physics issues. Can you clarify what friction parameters have you tried? Are they the friction on the clothing or on the robot gripper pads? Both need to be adjusted.
One thing to try is the same as the suggestion I left on here to change the collider mesh Approximation on the fingers. You can try Convex hull or Bounding box. Also, try to make the robot joint Drive gains smaller. Finally, try to increase the physics simulation frequency.
I will also see if I can find an expert on this contact interaction between rigid body and deformable.