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Actuators
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Advancement in the Design and Control of Robotic Grippers—Second Edition
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Advancement in the Design and Control of Robotic Grippers—Second Edition

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 30 June 2025 | Viewed by 4017

Special Issue Editor

Dr. Rocco Antonio Romeo

E-Mail Website
Guest Editor
Istituto Italiano di Tecnologia, Center for Robotics and Intelligent Systems, Via San Quirico19d, 16163 Genoa, Italy
Interests: mechatronic systems; robotic hands and grippers; actuators; sensors for robots; control; system dynamics; modelling and simulation
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Following the success of the previous Special Issue “Advancement in the Design and Control of Robotic Grippers” (https://www.mdpi.com/journal/actuators/special_issues/U93V1I8749), we are pleased to announce the next in the series, entitled “Advancement in the Design and Control of Robotic Grippers—Second Edition”.

Robotic arms interact with the environment by means of their end effectors. These coincide, in the majority of cases, with two-fingered grippers. Such devices allow the robotic arm to grasp items with various properties (e.g., shape and weight), even applying high forces when required. Despite their wide employment, the performance of robotic grippers is still limited by several factors. Above all, the scarce instrumentation, in terms of electronics and sensors, complicates the implementation of advanced control algorithms. This is a shortcoming that affects pneumatic grippers in particular, which are the most employed type of robotic gripper. As the market of robotic grippers shows a clearly growing trend, the need to conceive more sophisticated devices becomes stronger. Therefore, this Special Issue aims to collect valuable articles that can produce significant advancements in regard to the state-of-the-art of robotic grippers. Key challenges include the augmentation of the gripper intelligence, which passes through the integration of reliable sensors in the gripper, and the design improvement of crucial components (such as actuators, fingers, etc.). Topics will focus on, but are not limited to, the following:

  • design;
  • actuation;
  • instrumentation;
  • real-time control;
  • performance evaluation;
  • modeling and testing.

Dr. Rocco Antonio Romeo
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • design
  • actuation
  • instrumentation
  • real-time control
  • performance evaluation
  • modeling and test

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Related Special Issue

Published Papers (7 papers)

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Research

23 pages, 12269 KiB  
Article
Optimized Design and Deep Vision-Based Operation Control of a Multi-Functional Robotic Gripper for an Automatic Loading System
by Yaohui Wang, Sheng Guo, Jinliang Zhang, Hongbo Ding, Bo Zhang, Ao Cao, Xiaohu Sun, Guangxin Zhang, Shihe Tian, Yongxu Chen, Jixuan Ma and Guangrong Chen
Actuators 2025, 14(6), 259; https://doi.org/10.3390/act14060259 - 23 May 2025
Abstract
This study presents an optimized design and vision-guided control strategy for a multi-functional robotic gripper integrated into an automatic loading system for warehouse environments. The system adopts a modular architecture, including standardized platforms, transport containers, four collaborative 6-DOF robotic arms, and a multi-sensor [...] Read more.
This study presents an optimized design and vision-guided control strategy for a multi-functional robotic gripper integrated into an automatic loading system for warehouse environments. The system adopts a modular architecture, including standardized platforms, transport containers, four collaborative 6-DOF robotic arms, and a multi-sensor vision module. Methodologically, we first developed three gripper prototypes, selecting the optimal design (30° angle between the gripper and container side) through workspace and interference analysis. A deep vision-based recognition system, enhanced by an improved YOLOv5 algorithm and multi-feature fusion, was employed for real-time object detection and pose estimation. Kinematic modeling and seventh-order polynomial trajectory planning ensured smooth and precise robotic arm movements. Key results from simulations and experiments demonstrated a 95.72% success rate in twist lock operations, with a positioning accuracy of 1.2 mm. The system achieved a control cycle of 35 ms, ensuring efficiency compared with non-vision-based methods. Practical implications include enabling fully autonomous container handling in logistics, reducing labor costs, and enhancing operational safety. Limitations include dependency on fixed camera setups and sensitivity to extreme lighting conditions. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
25 pages, 13985 KiB  
Article
A Low-Cost Prototype of a Soft–Rigid Hybrid Pneumatic Anthropomorphic Gripper for Testing Tactile Sensor Arrays
by Rafał Andrejczuk, Moritz Scharff, Junhao Ni, Andreas Richter and Ernst-Friedrich Markus Vorrath
Actuators 2025, 14(5), 252; https://doi.org/10.3390/act14050252 - 17 May 2025
Viewed by 165
Abstract
Soft anthropomorphic robotic grippers are attractive because of their inherent compliance, allowing them to adapt to the shape of grasped objects and the overload protection needed for safe human–robot interaction or gripping delicate objects with sophisticated control. The anthropomorphic design allows the gripper [...] Read more.
Soft anthropomorphic robotic grippers are attractive because of their inherent compliance, allowing them to adapt to the shape of grasped objects and the overload protection needed for safe human–robot interaction or gripping delicate objects with sophisticated control. The anthropomorphic design allows the gripper to benefit from the biological evolution of the human hand to create a multi-functional robotic end effector. Entirely soft grippers could be more efficient because they yield under high loads. A trending solution is a hybrid gripper combining soft and rigid elements. This work describes a prototype of an anthropomorphic, underactuated five-finger gripper with a direct pneumatic drive from soft bending actuators and an integrated resistive tactile sensor array. It is a hybrid construction with soft robotic structures and rigid skeletal elements, which reinforce the body, focus the direction of the actuator’s movement, and make the finger joints follow the forward kinematics. The hand is equipped with a resistive tactile dielectric elastomer sensor array that directly triggers the hand’s actuation in the sense of reflexes. The hand can execute precision grips with two and three fingers, as well as lateral grip and strong grip types. The softness of the actuation allows the finger to adapt to the shape of the objects. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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17 pages, 4339 KiB  
Article
Modeling and Hysteresis Inverse Compensation Control of Soft Pneumatic Gripper for Gripping Phosphorites
by Yang Zhang, Junjie Lu, Zixin Huang and Bing Feng
Actuators 2025, 14(4), 193; https://doi.org/10.3390/act14040193 - 14 Apr 2025
Viewed by 293
Abstract
The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are [...] Read more.
The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are proposed. First, an SPG for gripping phosphorites is designed based on pneumatic actuation technology. Meanwhile, the gripping ability of the designed SPG is experimentally examined. Next, a dynamic model of the SPG is established by combining the Bouc–Wen model and a linear dynamic model. The output of the established dynamic model can fit the experimental data well, which shows that the established dynamic model of the SPG can describe its motion characteristics. Then, by constructing the inverse expression of the established dynamic model, the hysteresis inverse compensation control method for the SPG is presented to realize its motion control. Finally, the result of the control system simulation illustrates that the presented control method is effective. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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22 pages, 6830 KiB  
Article
Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly
by Mohammad Mayyas, Naveen Kumar, Zahabul Islam, Mohammed Abouheaf and Muteb Aljasem
Actuators 2025, 14(4), 192; https://doi.org/10.3390/act14040192 - 14 Apr 2025
Viewed by 342
Abstract
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers [...] Read more.
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers on the hybrid kinematics for precision and coarse operations of the gripper, parametrizing beam deformations in response to a defined set of boundary conditions and varying input loads. The research employs topology analysis to draw a clear correlation between input load and resultant motion, with a particular emphasis on the mechanism’s capacity to integrate both fine and coarse movements efficiently. Additionally, the paper pioneers an innovative solution to the ubiquitous point-contact problem encountered in grasping, intricately weaving it with the stiffness matrix. The overarching aim remains to provide a streamlined design methodology, optimized for manufacturability, by harnessing the capabilities of contemporary 3D fabrication techniques. This multifaceted approach, underpinned by the multiscale grasping method, promises to significantly advance the domain of robotic gripping and manipulation across applications such as micro-assembly, biomedical manipulation, and industrial robotics. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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17 pages, 13074 KiB  
Article
A Dual-Morphing Pneumatic Origami Gripper
by Ting Yan, Shao-Feng Xu and Kuo-Chih Chuang
Actuators 2025, 14(4), 166; https://doi.org/10.3390/act14040166 - 27 Mar 2025
Viewed by 453
Abstract
In this work, we propose a lightweight pneumatic gripper that can grasp objects from either the outer or inner surfaces. Inspired by the Miura-ori pattern, the gripper is fabricated by laminating films with different cutting patterns to form the crease lines and air [...] Read more.
In this work, we propose a lightweight pneumatic gripper that can grasp objects from either the outer or inner surfaces. Inspired by the Miura-ori pattern, the gripper is fabricated by laminating films with different cutting patterns to form the crease lines and air chambers. The asymmetry in the thickness of the top and bottom sides of the air chambers causes the gripper’s end to rotate in a predetermined direction upon inflation, enabling a dual-morphing grasping action. The dual morphings include an outward grasping morphing (grasping from the outer surface) and an inward grasping morphing (grasping from the inner surface). The deflection of the gripper’s end, induced by the air chamber’s inflation, is theoretically analyzed using a simplified one-dimensional model. We conducted both finite element modeling and experimental measurements to investigate the influence of the air chamber’s design parameters. Weighing only 4.5 g, the gripper can lift objects more than ten times of its own weight. This study provides a valuable design insight for developing more flexible and adaptable soft grippers capable of holding objects with a wider range of geometrical characteristics. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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20 pages, 5404 KiB  
Article
Design and Optimization of the Bionic Flexible Gripper Based on Magnetically Sensitive Rubber
by Xianhua Bian, Yu Ding, Rui Li, Mengjie Shou and Pingan Yang
Actuators 2025, 14(3), 124; https://doi.org/10.3390/act14030124 - 5 Mar 2025
Viewed by 534
Abstract
Flexible grippers based on magnetically sensitive rubber have garnered significant research attention due to their high gripping adaptability and ease of control. However, current research designs often separate the excitation device from the flexible finger, which can lead to potential interference or damage [...] Read more.
Flexible grippers based on magnetically sensitive rubber have garnered significant research attention due to their high gripping adaptability and ease of control. However, current research designs often separate the excitation device from the flexible finger, which can lead to potential interference or damage to other electronic components in the working environment and an inability to simultaneously ensure safety and gripping performance. In this paper, we propose an integrated magnetically controlled bionic flexible gripper that combines the excitation device and the flexible finger. We derive a formula for calculating the magnetic field generated by the excitation device, model and simulate the device, and find that the optimal magnetic field effect is achieved when the core-to-coil size ratio is 1:5. Additionally, we fabricated flexible fingers with different NdFeB volume ratios and experimentally determined that a volume ratio of 20% yields relatively better bending performance. The integrated magnetically controlled bionic flexible gripper described in this paper can adaptively grasp items such as rubber, column foam, and electrical tape, achieving maximum grasping energy efficiency of 0.524 g per millitesla (g/mT). These results highlight its potential advantages in applications such as robotic end-effectors and industrial automatic sorting. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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17 pages, 17195 KiB  
Article
The Design and Analysis of a Lightweight Robotic Arm Based on a Load-Adaptive Hoisting Mechanism
by Ruchao Wang, Zhiguo Lu, Yiru Wang and Zhongqing Li
Actuators 2025, 14(2), 71; https://doi.org/10.3390/act14020071 - 5 Feb 2025
Viewed by 1939
Abstract
This paper presents the design and control of a lightweight three degrees of freedom robotic arm based on a load-adaptive hoisting mechanism. The proposed design integrates a spring-loaded rope and a variable radius reel into the gripper, enabling efficient load adaptability with minimal [...] Read more.
This paper presents the design and control of a lightweight three degrees of freedom robotic arm based on a load-adaptive hoisting mechanism. The proposed design integrates a spring-loaded rope and a variable radius reel into the gripper, enabling efficient load adaptability with minimal structural complexity. By leveraging this mechanism, the robotic arm achieves significant weight reduction while maintaining robust performance under variable payloads. The study includes a comprehensive analysis of the system’s kinematics and dynamics, focusing on the interaction between the adaptive gripper and the arm structure. A prototype of the robotic arm was developed and experimentally tested to validate its functionality. Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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