Search Results (66)

This paper presents the design and implementation of an autonomous robotic facility for textile sorting and recycling, leveraging advanced computer vision and machine learning technologies. The system enables real-time textile classification, localization, and sorting on a dynamically moving conveyor belt. A custom-designed pneumatic gripper is developed for versatile textile handling, optimizing autonomous picking and placing operations. Additionally, digital simulation techniques are utilized to refine robotic motion and enhance overall system reliability before real-world deployment. The multi-threaded architecture facilitates the concurrent and efficient execution of textile classification, robotic manipulation, and conveyor belt operations. Key contributions include (a) dynamic and real-time textile detection and localization, (b) the development and integration of a specialized robotic gripper, (c) real-time autonomous robotic picking from a moving conveyor, and (d) scalability in sorting operations for recycling automation across various industry scales. The system progressively incorporates enhancements, such as queuing management for continuous operation and multi-thread optimization. Advanced material detection techniques are also integrated to ensure compliance with the stringent performance requirements of industrial recycling applications. Full article

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 study provides a set of designs, simulations and experiments for developing an actuating method for manual pipettes. The goal is to enable robotic manipulation and automatic pipetting, while using manual pipetting devices. This automation is designed to be used as a flexible alternative tool in small and medium-sized biochemistry laboratories that do not possess proper automated pipetting technology, in order to relieve the lab technicians from the tedious, repetitive and error-prone process of manual pipetting needed for the preparation of biological samples. The selected approach is to use a set of pressure-controlled pneumatic cylinders in order to control the actuation and force of the pipettes’ manual buttons. This paper presents a mechanical design, analysis, pneumatic simulation and functional robotic simulation of the developed device, and a comparison of possible pneumatic solutions is presented to explain the selected actuation method. Remote pneumatic pressure sensing is employed in order to avoid electrical sensors, connectors and wires in the area of the actuators, thus expanding the possibility of working in some electromagnetic-compatible environments and to simplify the connecting and cleaning process of the entire device. A functional simulation is conducted using a combination of software packages: Fluidsim for pneumatic simulation, URSim for robot programming and CoppeliaSim for application integration and visualization. Experimental validation is conducted using off-the-shelf pneumatic components, assembled with 3D-printed parts and mounted onto an existing pneumatic gripper. This complete assembly is attached to an industrial collaborative robot, as an end effector, and a program is written to test and validate the functions of the complete device. The in-process actuators’ working pressure is recorded and analyzed to determine the suitability of the proposed method and pipetting ability. Supplemental digital data are provided in the form of pneumatic circuit diagrams, a robot program, simulation scene and recorded values, to facilitate experimental replication and further development. Full article

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional pneumatic grippers often suffer from air leakage and tear, particularly under prolonged grasping and inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) and a novel self-healing material (SHM) polyborosiloxane–Ecoflex™ hybrid polymer (PEHP) developed by the authors. The results demonstrate that PSRM finger grippers can hold various objects without external pressure input (12 mm displacement under a 1.2 N applied), and the SHM assists with recovery of mechanical properties upon external damage. The proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, and block stacking, showcasing its durability and functional performance. These findings contribute to promoting the cost-effective deployment of soft robotic hands in robotic construction. Full article

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

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 study presents the design, development, and experimental assessment of soft pneumatic actuators for achieving bending motion utilizing vacuum pressure, with their final application to soft robotic grippers. A novel soft actuator design is introduced, satisfying the following design requirements: safe operation without the risk of explosion, the ability to achieve large angular bending while overcoming significant forces, and the use of soft materials that are resistant to material fatigue. A vacuum-driven soft bending actuator (VSBA) was designed, incorporating a cylindrical ribbed bellow geometry and an integrated limiting element within its structure. Two variations of the VSBA were fabricated, each differing in the materials and manufacturing processes employed. The first version employs a cylindrical ribbed bellow made of thermoplastic rubber (TPR), while the other versions utilize heat-shrinkable polymer materials, resulting in an innovative manufacturing process capable of producing actuators in various sizes and shapes. This contributes to the analysis of how actuator geometry affects performance and enables its miniaturization. The performance of the novel VSBAs were experimentally assessed through measuring the bending angle, blocking force, and angular velocity–angle characteristics. The results confirmed a maximum bending angle of 140° corresponding to a bending ratio of 78%, a maximum blocking force of 110 N, and maximum angular velocity of 520°/s at a vacuum pressure of −0.8 bar. Finally, a soft robotic gripper was developed, consisting of three newly designed VSBAs. Experimental assessments demonstrated the gripper’s capability to grasp objects of various shapes, with a maximum holding force of 28 N. Full article

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 deployment of sensors or complex controllers, due to its mechanical system that ensures the desired adaptive behavior. Adaptivity is attained by adjusting the air pressure in the pneumatic muscle, monitored and controlled in a closed loop by means of a proportional pressure regulator. The kinematic diagram and the functional and constructive models of the gripper system are presented. The developed forces were measured followed by the calculation of stiffness and compliance. The paper concludes with recommendations for the operation of the gripper. Full article

This paper is dedicated to soft grippers, robot tools with a wide application area in various activities where an accurate and delicate grabbing movement is required such as routine manipulation tasks with fragile objects, operation in unknown or dangerous environments, and manipulation with unknown shape objects, as well as exploring the depths of the sea or harvesting vegetables in agriculture. The main goal of this paper is to review and systematize the main ideas about and achievements of soft grippers published from 2015 to 2024. The paper provides a statistical analysis of the performed research and systematized advancements of soft grippers according to their operating principle, forces and effects that enable their operation, and the properties of potential manipulation objects. Grippers inspired by nature are also discussed, as most successful solutions are based on ideas derived from nature. This study discusses the latest achievements of soft grippers and their various applications and presents a unique distribution of soft grippers according to the physical principle of the forces they act on, according to the size of the object to be grasped, and according to technological realizations. The results of this analysis can be useful for practical gripper users aiming to improve their workplace and find optimal design solutions, for gripper manufacturers or developers, or for scientists of material sciences looking for applications for their products. Full article

This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex 60A (3D-printed), Elastosil M4601, and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper’s PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board—Arduino UNO. This paper presents the main simulation and experimental results of this research study. Full article

Soft actuators have enabled the growth of soft robotics, overcoming several drawbacks of rigid robotics by providing devices with many degrees of freedom and the ability to grasp, bend, move, jump, and more. The reconfiguration of the workspace is still a limitation of these actuators. Indeed, once the actuator is designed and developed, it is used for a specific task. This work presents a reconfigurable soft pneumatic actuator with a novel reconfigurable modular reinforcement. The latter is wrapped around an inner tube in silicone rubber and is made of components whose assembly can be configured based on the task. A formulation is identified by a hybrid approach based on finite element analysis and response surface methodology for predicting and designing the behavior of the actuator. The prototyping revealed the ease of fabrication and reconfigurability as the strength of this new actuator. The experimental tests demonstrated the feasibility of adopting the actuator as a finger in a gripper for handling and moving objects of different shapes, masses, and stiffness. Furthermore, the evaluated performance shows a good trade-off between mass, developed force, implementation time, easy reconfigurability, and cost-effectiveness. Full article

In grasping operations, when facing unstructured environments, the use of soft-body grippers can be a good solution to the problem of grasping objects that are inconvenient to grasp due to their fragility and irregularity. However, as the soft-body gripper is composed of soft-body material, there are problems such as insufficient gripping power. The envelope-gripping method using a fingerless structure of the soft gripper has high gripping capacity. In this paper, a new type of pneumatic, soft-body, fingerless gripper (SFLG) is proposed based on envelope-type grasping. With its rigid connectors, it forms a soft-body gripper. By changing the air pressure and structure of the internal air cavity of the fingerless gripper, the degree of deformation can be controlled to achieve grasping of the object by the soft-body gripper. Experiments show that the soft-body gripper can grasp objects of different shapes and sizes. The SFLG can grasp objects up to 6 times higher than itself, and the soft gripper of this size can grasp objects up to 13 times heavier than itself. A pneumatic, fingerless, soft gripper has been designed to grasp small and heavy or tall objects in contrast to other fingerless soft grippers. Full article

Flexible grippers are a promising and pivotal technology for robotic grasping and manipulation tasks. Remarkably, magnetorheological (MR) materials, recognized as intelligent materials with exceptional performance, are extensively employed in flexible grippers. This review aims to provide an overview of flexible robotic grippers and highlight the application of MR materials within them, thereby fostering research and development in this field. This work begins by introducing various common types of flexible grippers, including shape memory alloys (SMAs), pneumatic flexible grippers, and dielectric elastomers, illustrating their distinctive characteristics and application domains. Additionally, it explores the development and prospects of magnetorheological materials, recognizing their significant contributions to the field. Subsequently, MR flexible grippers are categorized into three types: those with viscosity/stiffness variation capabilities, magnetic actuation systems, and adhesion mechanisms. Each category is comprehensively analyzed, specifying its unique features, advantages, and current cutting-edge applications. By undertaking an in-depth examination of diverse flexible robotic gripper types and the characteristics and application scenarios of MR materials, this paper offers a valuable reference for fellow researchers. As a result, it facilitates further advancements in this field and contributes to the provision of efficient gripping solutions for industrial automation. Full article

The ability of robots to tackle complex non-repetitive tasks will be key in bringing a new level of automation in agricultural applications still involving labor-intensive, menial, and physically demanding activities due to high cognitive requirements. Harvesting is one such example as it requires a combination of motions which can generally be broken down into a visual servoing and a manipulation phase, with the latter often being straightforward to pre-program. In this work, we focus on the task of fresh mushroom harvesting which is still conducted manually by human pickers due to its high complexity. A key challenge is to enable harvesting with low-cost hardware and mechanical systems, such as soft grippers which present additional challenges compared to their rigid counterparts. We devise an Imitation Learning model pipeline utilizing Vector Quantization to learn quantized embeddings directly from visual inputs. We test this approach in a realistic environment designed based on recordings of human experts harvesting real mushrooms. Our models can control a cartesian robot with a soft, pneumatically actuated gripper to successfully replicate the mushroom outrooting sequence. We achieve 100% success in picking mushrooms among distractors with less than 20 min of data collection comprising a single expert demonstration and auxiliary, non-expert, trajectories. The entire model pipeline requires less than 40 min of training on a single A4000 GPU and approx. 20 ms for inference on a standard laptop GPU. Full article

Traditional electric robots often rely on heavy gear units or expensive force–torque sensors, whereas pneumatic robots offer a cost-effective and simple alternative. However, their dependence on noisy and bulky pneumatic systems, such as compressed air technology, limits their portability and adaptability. To overcome these challenges, we have developed a reversible electrochemical pneumatic battery (REPB) that is compact, noise-free, energy-efficient, and portable. This innovative REPB, principled by the electrochemical redox reactions of zinc–air batteries, can simultaneously supply both electric and pneumatic power, either positive or negative pressure. Its modular, multi-stack structure allows for the easy customization of power output and capacity to suit various applications. We demonstrate the utility of REPB through its application in jamming robots, such as a novel soft yet robust gripper that merges the strengths of hard and soft grippers, enabling universal robotic gripping. This work presents a groundbreaking approach to powering devices that require pneumatic support. Full article