This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alter...
This paper proposes a modular gripping mechanism for the manipulation of multiple objects. The proposed micro gripper combines traditional machining techniques with MEMS technologies to produce a modular mechanism consisting of a sturdy, compliant al...
The paper presents an innovative theoretical concept of a bio-inspired soft gripper system with two parallel jaws, a fixed and a mobile one. It is conceived for gripping fragile or soft objects with complex, irregular shapes that are easily deformabl...
This paper presents the design, fabrication and testing of a shape memory alloy (SMA)-actuated monolithic compliant gripping mechanism that enables translational motion of the gripper tips for grasping operation suitable for micromanipulation and mic...
In a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with the...
The paper presents an innovative soft gripper system designed for automated assembling operations. The novel robotic soft gripper utilizes a linear pneumatic muscle as its motor, due to its inherently compliant behavior. This renders redundant the de...
Physical human–robot interaction (pHRI) is an essential skill for robots expected to work with humans, such as assistive or rescue robots. However, due to hard safety and compliance constraints, pHRI is still underdeveloped in practice. Tactile...
This paper proposes a simple and compact compliant gripper, whose gripping stiffness can be thermally controlled to accommodate the actuation inaccuracy to avoid or reduce the risk of breaking objects. The principle of reducing jaw stiffness is that...
The increasing demand for flexible, high-precision, and low-damage manufacturing is driving industrial robotic grippers toward adaptive systems with compliant interaction, force regulation, and intelligent decision-making capabilities. However, their...
Conventional pneumatic grippers are widely used in industrial pick and place robot processes for rigid objects. They are simple, robust and fast, but their design, motion and features are limited, and they do not fulfil the final purpose. Food produc...
Unmanned aerial vehicles (UAVs) are widely used for monitoring and payload transport; however, their application in autonomous physical interaction remains limited due to payload constraints, stability challenges, and the complexity of integrating ma...
This research presents a comprehensive study on the design and implementation of a flexible robotic gripper. Conventional grippers utilized in articulated robotic arms are often limited in their capabilities, being restricted to specific tasks or fix...
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achie...
In the field of agricultural robotics, robotic grippers play an indispensable role, directly influencing the rate of fruit damage and handling efficiency. Currently, traditional agricultural robotic grippers face challenges such as high damage rates...
Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed w...
Micro-electro-mechanical-systems (MEMS) extensively employed planar mechanisms with elastic curved beams. However, using a curved circular beam as a flexure hinge, in most cases, needs a more sophisticated kinetostatic model than the conventional pla...
With the advancement of robotic technologies, more and more tasks in industrial and commercial applications rely on the use of robots to assist or even replace humans. To fulfill the needs of grasping and handling different objects, the development o...
Handling delicate agricultural products, such as tomatoes, requires careful attention from workers during harvesting, sorting, and packaging processes. This labor-intensive approach is often inefficient and susceptible to human error. A potential sol...
Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale,...
The established soft pneumatic grippers have the benefit of flexible and compliant gripping, but they cannot withstand lateral loads, due to the low stiffness of soft material. This paper proposes an endoskeleton gripper. The soft action of the finge...
Using soft materials in robotic mechanisms has become a common solution to overcome many challenges associated with the rigid bodies frequently used in robotics. Compliant mechanisms allow the robot to adapt to objects and perform a broader range of...
Forceps are essential tools for digital nerve manipulation during digital nerve repair surgery. However, surgeons have to operate forceps with extreme caution to prevent detrimental post-operative complications caused by over-gripping force. Their in...
We present the design of a universal gripper based on the principle of liquid jamming. The phase change behavior of a mineral oil subjected to cooling is used for adaptive gripping and release of objects. The mineral oil is enclosed in a soft, compli...
The growing demand for precision and miniaturization in micro-scale systems and biomedical applications has driven the need for highly optimized compliant mechanisms. The design of these mechatronic systems requires advanced actuators optimization, s...
Underactuated, modular and compliant hands and grippers are interesting solutions in grasping and manipulation tasks due to their robustness, versatility, and adaptability to uncertainties. However, this type of robotic hand does not usually have eno...
Soft robotic grippers provide compliant and adaptive manipulation, but most existing designs address actuation speed, adaptability, modularity, or sensing individually rather than in combination. This paper presents an electro-actuated customizable s...
Soft grippers have attracted great interest in the soft robotics research field. Due to their lack of deformability and control over compliance, it can be challenging for them to pick up objects that are too large or too small in size. In particular,...
This work presents a novel soft gripper concept featuring integrated force feedback and a compact, resource-efficient geometry. The gripper is designed to provide a low-cost, adaptable, and precise solution for manipulating delicate and irregularly s...
This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key con...
This study presents the innovative design and development of biomimetic origami-based soft robotic grippers capable of two-stage grasping. Inspired by the biological structure of the sea urchin mouth, which combines external rigid teeth with an inter...
Soft robotic grippers often incorporate pneumatically-driven actuators that can elastically deform to grasp delicate, curved organic objects with minimal surface damage. The complexity of the actuator geometry and the nonlinear stress–strain be...
In this paper, we present a novel concept and primary investigations regarding automated unfastening of hexagonal nuts by means of surface exploration with a compliant robot. In contrast to the conventional industrial approaches that rely on custom-d...
Soft robotic grippers have emerged as crucial tools for safe and adaptive manipulation of delicate and different objects, enabled by their compliant structures. These grippers need embedded sensing that offers proprioceptive and exteroceptive feedbac...
Soft grippers, a rapidly growing subfield of soft robotics, utilize compliant and flexible materials capable of conforming to various shapes. This feature enables them to exert gentle yet, if required, strong gripping forces. In this study, we elabor...
Forceps, clamps, and haemostats are essential surgical tools required for all surgical interventions. While they are widely used to grasp, hold, and manipulate soft tissue, their metallic rigid structure may cause tissue damage due to the potential r...
Precise control of the manipulating force within an appropriate range is crucial to prevent potential damage to the operating object. However, achieving accurate force control through force feedback is challenging in micro-scale applications. This st...
Hybrid lattice compliant mechanisms (HLCMs) composed of multiple microstructures have attracted widespread interest due to their superior compliant performance compared to the traditional solid compliant mechanisms. A novel optimization scheme for HL...
This study presents a novel, bioinspired perching mechanism designed to enhance the landing and takeoff capabilities of flapping wing micro aerial vehicles (FWMAVs). Drawing inspiration from the human hand, the lightweight gripper integrates a compli...
Bio-inspired serpentine robots show strong potential for operation in unstructured environments, yet existing systems often lack reliable modular docking, adaptive grasping, and an effective balance between structural stiffness and motion dexterity....
This study presents the development of a prototype anthropomorphic soft robotic gripper intended for applications in rehabilitation and assistive robotics, where safe and adaptive interaction with humans is required. The device consists of three elas...
The six-degree-of-freedom (6-DoF) interaction forces/torque of the tool-end play an important role in the robotic tool manipulation using a gripper, which are usually indirectly measured by a robot wrist force/torque sensor. However, the real-time de...
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 m...
There are physical Human–Robot Interaction (pHRI) applications where the robot has to grab the human body, such as rescue or assistive robotics. Being able to precisely estimate the grasping location when grabbing a human limb is crucial to per...
In this study, a comprehensive approach for sensing object stiffness through the pincer grasping of soft pneumatic grippers (SPGs) is presented. This study was inspired by the haptic sensing of human hands that allows us to perceive object properties...
This paper delves into the potential of an optimized differential system within an underactuated tendon-driven soft robotic gripper, a crucial component that enhances the grasping abilities by allowing fingers to secure objects adapting to different...
The existing symmetrical microgrippers have larger output displacements compared with the asymmetrical counterparts. However, the two jaws of a symmetrical microgripper are less unlikely to offer the same forces on the two sides of a grasped micro-ob...
Precise and stable operations in micromanipulation and microassembly require a high-performance microgripper. To improve the predominant static and dynamic characteristics, a novel piezoelectric-actuated compliant microgripper is designed, analyzed,...
Stable grasps are essential for robots handling objects. This is especially true for “robotized” large industrial machines as heavy and bulky objects that are unintentionally dropped by the machine can lead to substantial damages and pose...
Shape Memory Alloy (SMA) actuators offer strong potential for compact, lightweight, silent, and compliant robotic grippers; however, their practical deployment is limited by the challenge of controlling nonlinear and hysteretic thermal dynamics. This...
This research addresses the enhancement of operational efficiency in apple-picking robots through the design of a bimanual spatial configuration enabling obstacle avoidance in contemporary orchard environments. A parallel coordinated harvesting parad...
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