Journal articles: 'Adaptive gripper'

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Petkovic, Dalibor, Mirna Issa, Nenad D. Pavlovic, and Lena Zentner. "Passively Adaptive Compliant Gripper." Applied Mechanics and Materials 162 (March 2012): 316–25. http://dx.doi.org/10.4028/www.scientific.net/amm.162.316.

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Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The underactuation can morph shapes of the gripper to accommodate to different objects. As a result, they require less complex control algorithms. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance and embedded sensors in the gripper structure. The adaptive gripper surfaces will have the sensing capability by these embedded sensors. The gripper will be made of a silicone rubber and conductive silicone rubber will be used for the embedded sensors. The main points of this paper are in explanation of the construction and production of the gripper structure and showing the methodology of a new sensing capability of the gripper.

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Peng, Zhikang, Dongli Liu, Xiaoyun Song, et al. "The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports." Applied System Innovation 7, no. 1 (2024): 15. http://dx.doi.org/10.3390/asi7010015.

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Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robotic gripper with rigid supports to enhance lifting force by 150 ± 20% in comparison with that of the same gripper without supports, which successfully lifted a metallic wrench (672 g). The soft gripper also achieves excellent adaptivity for irregularly shaped objects. The design, fabrication, and performance of soft grippers with rigid supports are discussed in this paper.

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Frincu, Cezar Ioan, Ioan Stroe, and Ionel Staretu. "Innovative self-adaptive gripper design, functional simulation, and testing prototype." International Journal of Advanced Robotic Systems 19, no. 4 (2022): 172988062211193. http://dx.doi.org/10.1177/17298806221119345.

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This article presents the design, functional simulation, and prototype of an innovative adaptive jaw gripper. First, based on the comparative analysis of several types of anthropomorphic finger grippers and adaptive jaw grippers, to avoid their disadvantages, the structural scheme of a gripper module based on a polycontour mechanism, comprising a guided parallelogram contour, was established to obtain a parallel translational movement of the elements of the jaw holders and therefore of the jaws. Then the structural analysis is briefly made to verify the correct operation of the mechanism of the gripping module, and details of the kinematic analysis and of the design of the components in the CATIA software are given. After obtaining the 3D version of the gripping module, its functional simulation and ADAMS analysis is performed. The sensory system used at the level of the jaws is also described and then the gripper assembly is obtained including a base plate and five gripper modules and as a result an adaptive gripper with five jaw holder elements is created. Next is the functional simulation of the adaptive gripper for gripping several types of parts. The prototype made and the test are presented for gripping five types of parts and we show the prospects of continuing this research with practical applicability by mounting on a robot and implementing in a robotic line for gripping and handling a series of parts of various shapes and sizes.

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Kang, Bongki, and Joono Cheong. "Development of Two-Way Self-Adaptive Gripper Using Differential Gear." Actuators 12, no. 1 (2022): 14. http://dx.doi.org/10.3390/act12010014.

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In this paper, a two-way self-adaptive gripper that has adaptability to external disturbance loads during linear opening/closing pinch actions and adaptability to encompass a variety of shapes during grasping using a single actuator is proposed, unlike the previous self-adaptive robotic grippers capable of only shape adaptation. Therefore, both linear motion adaptability and shape adaptability during parallel grasping situations are enabled by the proposed design of the gripper. Adaptation to the linear pinch motion is provided through the use of a differential gear, the two outputs of which drive the two tips of the gripper. If facing uneven external loads, the differential gear adaptively alters the speeds of the two outputs, resulting in different closing speeds of the two gripper tips. Despite asymmetric closing, very stable grasping can be guaranteed for such a situation. The differential gear can even complete the grasping by intentionally or unintentionally fixing one of the gripper tips. The proposed design is also capable of shape adaptation in the encompassing grasping mode by adopting a parallel-linkage gripper mechanism, consisting of an exoskeleton and 6 internal joints with a spring element. The finger exoskeleton facilitates pinch and spread actions, while the encompassing action is carried out by adjusting the internal linkage. Based on the kinematic analysis and modeling of the proposed gripper, a prototype of the two-way adaptive gripper hardware was developed. Several experiments were performed to verify the feasibility and validity of the proposed gripper system. The actuator using the proposed differential gear was shown to be able to grasp objects in jammed conditions. In addition, the gripper was able to perform grasping actions, such as pinch, spread, and encompassing grasp.

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Portman, V., L. Slutski, and Y. Edan. "An adaptive locating problem for robotic grasping." Robotica 19, no. 3 (2001): 295–304. http://dx.doi.org/10.1017/s0263574700003155.

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The paper addresses a problem of “in-hand” locating parts of different shapes in robotic grasping. The goal of the process is to locate a part of an arbitrary shape from an imprecisely determined initial position within a gripper to a final prescribed one. Two possible approaches to solve the problem are considered: non-adaptive, using ordinary rigid jaws of gripper and, adaptive, using an adaptive jaw which improves the performance of the locating process. The latter approach is proposed to be solved by a new type of grasping mechanism. Its theoretical analysis enables to obtain formal conditions for part behavior during the successive steps of the locating process. This process was simulated and then experimentally investigated on an actual gripper model. The proposed new class of mechanisms opens a promising avenue to the creation of a practical class of universal robotic grippers for industry.

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Xie, Bowei, Mohui Jin, Jieli Duan, et al. "Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior." Agriculture 14, no. 7 (2024): 1082. http://dx.doi.org/10.3390/agriculture14071082.

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Adaptability to unstructured objects and the avoidance of target damage are critical challenges for flexible grippers in fruit-picking robots. Most existing flexible grippers have many problems in terms of control complexity, stability and cost. This paper proposes a flexible finger design method that considers contact behavior. The new approach incorporates topological design of contact targets and introduces contact stress constraints to directly obtain a flexible finger structure with low contact stress and good adaptability. The study explores the effects of design parameters, including virtual spring stiffness, volume fraction, design domain size, and discretization, on the outcomes of the flexible finger topology optimization. Two flexible finger structures were selected for comparative analysis. The experimental results verified the effectiveness of the design method and the maximum contact stress was reduced by about 70%. An adaptive two-finger gripper was developed. This design allows the gripper to achieve damage-free grasping without additional sensors and control systems. The adaptive and contact performances of the grippers with different driving modes were analyzed. Practical grasping tests were also performed, including evaluation of adaptive performance, stability, and maximum grasping weight. The results indicate that gripper 2 with flexible finger 2 excelled in contact stress and adaptive wrapping, making it well-suited for grasping unstructured and fragile objects. This paper provides valuable insights for the design and application of flexible grippers for picking robots, offering a promising solution to enhance adaptability while minimizing target damage.

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Frincu, Cezar, Ioan Stroe, Sorin Vlase, and Ionel Staretu. "Design and Calibration of a Sensory System of an Adaptive Gripper." Applied Sciences 15, no. 6 (2025): 3098. https://doi.org/10.3390/app15063098.

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The design and calibration of an adaptive gripper’s sensor system are presented in this research. Including the final constructive variants, the variants of the planned force sensor and slip sensors are detailed, highlighting their primary functional and constructive features. The key elements regarding the calibration of the force and slip sensors on each gripper module of the adaptive gripper are then displayed. Each sensor must be examined and calibrated independently due to its construction particularities. The important force and slip sensor behavior graphs are displayed, along with the calibration needed to ensure the adaptive gripper operates as intended. This paper suggestively shows, among the few papers of this kind, for the first time, the laborious but absolutely necessary process of calibrating force and slip sensors for gripping in general, and for adaptive gripping in particular.

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Rahman, Md Mahbubur, Md Tanzil Shahria, Md Samiul Haque Sunny, et al. "Development of a Three-Finger Adaptive Robotic Gripper to Assist Activities of Daily Living." Designs 8, no. 2 (2024): 35. http://dx.doi.org/10.3390/designs8020035.

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A significant number of individuals in the United States use assistive devices to enhance their mobility, and a considerable portion of those who depend on such aids require assistance from another individual in performing daily living activities. The introduction of robotic grippers has emerged as a transformative intervention, significantly contributing to the cultivation of independence. However, there are few grippers in the fields, which help with mimicking human hand-like movements (mostly grasping and pinching, with adoptive force control) to grasp and carry objects. Additionally, the data are not available even on how many Activities of Daily Living (ADL) objects they can handle. The goal of the research is to offer a new three-fingered gripper for daily living assistance, which can both grasp and pinch with adaptive force, enabling the capabilities of handling wide-ranging ADL objects with a minimal footprint. It is designed to handle 90 selective essential ADL objects of different shapes (cylindrical, irregular, rectangular, and round), sizes, weights, and textures (smooth, rough, bumpy, and rubbery). The gripper boasts a meticulously engineered yet simple design, facilitating seamless manufacturing through 3D printing technology without compromising its operational efficacy. The gripper extends its functionality beyond conventional grasping, featuring the capability to pinch (such as holding a credit card) and securely hold lightweight objects. Moreover, the gripper is adaptable to grasping various objects with different shapes and weights with controlled forces. In evaluation, the developed gripper went through rigorous load tests and usability tests. The results demonstrated that the users picked and placed 75 objects out of 90 daily objects. The gripper held and manipulated objects with dimensions from 25 mm to 80 mm and up to 2.9 kg. For heavy-weight objects (like books) where the centroid is far apart from the grasping areas, it is difficult to hold them due to high torque. However, objects’ textures have no significant effect on grasping performance. Users perceived the simplicity of the gripper. Further investigation is required to assess the utility and longevity of grippers. This study contributes to developing assistive robots designed to enhance object manipulation, thereby improving individuals’ independence and overall quality of life.

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Zhang, Jintao, Shuang Lai, Huahua Yu, Erjie Wang, Xizhe Wang, and Zixuan Zhu. "Fruit Classification Utilizing a Robotic Gripper with Integrated Sensors and Adaptive Grasping." Mathematical Problems in Engineering 2021 (September 3, 2021): 1–15. http://dx.doi.org/10.1155/2021/7157763.

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As the core component of agricultural robots, robotic grippers are widely used for plucking, picking, and harvesting fruits and vegetables. Secure grasping is a severe challenge in agricultural applications because of the variation in the shape and hardness of agricultural products during maturation, as well as their variety and delicacy. In this study, a fruit identification method utilizing an adaptive gripper with tactile sensing and machine learning algorithms is reported. An adaptive robotic gripper is designed and manufactured to perform adaptive grasping. A tactile sensing information acquisition circuit is built, and force and bending sensors are integrated into the robotic gripper to measure the contact force distribution on the contact surface and the deformation of the soft fingers. A robotic manipulator platform is developed to collect the tactile sensing data in the grasping process. The performance of the random forest (RF), k-nearest neighbor (KNN), support vector classification (SVC), naive Bayes (NB), linear discriminant analysis (LDA), and ridge regression (RR) classifiers in identifying and classifying five types of fruits using the adaptive gripper is evaluated and compared. The RF classifier achieves the highest accuracy of 98%, while the accuracies of the other classifiers vary from 74% to 97%. The experiment illustrates that efficient and accurate fruit identification can be realized with the adaptive gripper and machine learning classifiers, and that the proposed method can provide a reference for controlling the grasping force and planning the robotic motion in the plucking, picking, and harvesting of fruits and vegetables.

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Zhang, Yunzhi, Dingkun Xia, Qinghua Lu, Qinghua Zhang, Huiling Wei, and Weilin Chen. "Design, Analysis and Experimental Research of Dual-Tendon-Driven Underactuated Gripper." Machines 10, no. 9 (2022): 761. http://dx.doi.org/10.3390/machines10090761.

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To improve the adaptive clamping performance of traditional single-tendon-driven underactuated grippers for grasping multiple categories of objects, a novel dual-tendon-driven underactuated gripper is proposed in this paper. First, two independent tendons with different winding paths are designed in the gripper to realize the changeable resultant moment of the end knuckle rotating joint and the movement sequences of gripper knuckles driven by different tendons are analysed too. Then, some kinematic analysis and dynamical simulations are carried out to verify the validation of the knuckle structure and dual-tendon winding path design. At last, a prototype of the novel gripper is manufactured and some grasping experiments are carried out on multiple categories of objects, with different sizes and shapes. The experimental results show that all the objects can be clamped tightly. Compared with the traditional single-tendon-driven gripper, the novel one can achieve a more flexible grasping operation and a larger end clamping force, which are more suitable for the adaptive grasping requirements of robotic automatic sorting.

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Yumbla, Francisco, Emiliano Quinones Yumbla, Erick Mendoza, et al. "An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping." Biomimetics 10, no. 1 (2025): 26. https://doi.org/10.3390/biomimetics10010026.

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This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with the purpose of providing a low-cost, efficient, and reliable solution for easy integration with any robot arm for industrial and research purposes. During the development phase, 3D printing materials were employed in the gripper’s design, with Polylactic Acid (PLA) filament used for the rigid mechanical components and Thermoplastic Polyurethane (TPU) for the flexible membranes that distribute pressure to the resistive force sensors. Stress analysis and simulations were conducted to evaluate the performance of the components under load and to gradually refine the design of the adaptive gripper. It was ensured that the mechanism could integrate effectively with the robotic arm and be precisely controlled through a PID controller. Furthermore, the availability of spare parts in the local market was considered essential to guarantee easy and cost-effective maintenance. Tests were conducted on an actual robotic arm, and the designed gripper was able to effectively grasp objects such as a soda can and a pencil. The results demonstrated that the adaptive gripper successfully achieved various types of grasping, offering a scalable and economical solution that represents a significant contribution to the field of robotic manipulation in industrial applications.

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Carpenter, Ryan, Ross Hatton, and Ravi Balasubramanian. "Evaluation of linear and revolute underactuated grippers for steel foundry operations." Industrial Robot: An International Journal 42, no. 4 (2015): 314–23. http://dx.doi.org/10.1108/ir-01-2015-0004.

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Purpose – The purpose of this paper is to develop an automated industrial robotic system for handling steel castings of various sizes and shapes in a foundry. Design/methodology/approach – The authors first designed a prismatic gripper for pick-and-place operations that incorporates underactuated passive hydraulic contact (PHC) phalanges that enable the gripper to easily adapt to different casting shapes. The authors then optimized the gripper parameters and compared it to an adaptive revolute gripper using two methods: a planar physics based quasistatic simulation that accounts for object dynamics and validation using physical prototypes on a physical robot. Findings – Through simulation, the authors found that an optimized PHC gripper improves grasp performance by 12 per cent when compared to an human-chosen PHC configuration and 60 per cent when compared to the BarrettHand™. Physical testing validated this finding with an improvement of 11 per cent and 280 per cent, respectively. Originality/value – This paper presents for the first time optimized prismatic grippers which passively adapt to an object shape in grasping tasks.

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MacDonald, Ian, and Rickey Dubay. "Development of an Adaptive Force Control Strategy for Soft Robotic Gripping." Applied Sciences 14, no. 16 (2024): 7354. http://dx.doi.org/10.3390/app14167354.

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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 tasks, unlike rigid bodies that are generally designed for specific applications. However, soft robotics presents its own set of challenges in both design and implementation, particularly in sensing and control. These challenges are abundant when dealing with the force control problem of a compliant gripping mechanism. The ability to effectively regulate the applied force of a gripper is a critical task in many control operations, as it allows the precise manipulation of objects, which drives the need for enhanced force control strategies for soft or flexible grippers. Standard sensing techniques, such as motor current monitoring and strain-based sensors, add complexities and uncertainties when establishing mathematical models of soft grippers to the required gripping forces. In addition, the soft gripper creates a complex non-linear system, compounded by adding an adhesive-type sensor. This work develops a unique visual force sensor trained on synthetic data generated using finite element analysis (FEA) and implemented by integrating a non-linear model reference adaptive controller (MRAC) to control gripping force on a fixed 6-DOF robot. The robot can be placed on a mobile platform to perform various tasks. The virtual FEA sensor and controller, combined, are termed virtual reference adaptive control (VRAC). The VRAC was compared to other methods and achieved comparable control sensing and control performance while reducing the complexity of the sensor requirements and its integration. The VRAC strategy effectively controlled the gripping force by driving the dynamics to match the desired performance after a limited amount of training cycles. The controller proposed in this work was designed to be generally applicable to most objects that the gripper will interact with and easily adaptable to a wide variety of soft grippers.

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Wang, Kai, and Xing Song Wang. "Adaptive Impedance Control for a Tendon-Sheath-Driven Compliant Gripper." Applied Mechanics and Materials 532 (February 2014): 74–77. http://dx.doi.org/10.4028/www.scientific.net/amm.532.74.

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This paper investigates the feasibility of adaptive impedance control scheme for compliant gripper. A compliant gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by tendon-sheath transmission system and use strain gages to measure both the displacement and gripping force. Position based impedance control is used to control the contact force to made the gripper more compliantly. Due to the nonlinear of the structure; it is difficult to establish the mathematic model and kinematical equations. Therefore, combine model reference adaptive control strategy with impedance control to realize the soft control of the compliant gripper.

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Maggi, Matteo, Giacomo Mantriota, and Giulio Reina. "Influence of the Dynamic Effects and Grasping Location on the Performance of an Adaptive Vacuum Gripper." Actuators 11, no. 2 (2022): 55. http://dx.doi.org/10.3390/act11020055.

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A rigid in-plane matrix of suction cups is widely used in robotic end-effectors to grasp objects with flat surfaces. However, this grasping strategy fails with objects having different geometry e.g., spherical and cylindrical. Articulated rigid grippers equipped with suction cups are an underinvestigated solution to extend the ability of vacuum grippers to grasp heavy objects with various shapes. This paper extends previous work by the authors in the development of a novel underactuated vacuum gripper named Polypus by analyzing the impact of dynamic effects and grasping location on the vacuum force required during a manipulation cycle. An articulated gripper with suction cups, such as Polypus, can grasp objects by adhering to two adjacent faces, resulting in a decrease of the required suction action. Moreover, in the case of irregular objects, many possible grasping locations exist. The model explained in this work contributes to the choice of the most convenient grasping location that ensures the minimum vacuum force required to manipulate the object. Results obtained from an extensive set of simulations are included to support the validity of the proposed analytical approach.

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Galabov, V., Ya Stoyanova, and G. Slavov. "Synthesis of an adaptive gripper." Applied Mathematical Modelling 38, no. 13 (2014): 3175–81. http://dx.doi.org/10.1016/j.apm.2013.11.038.

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Hu, Jiawei. "Design and Performance Analysis of a Silicone-Based Fin-ray Soft Gripper for Intelligent Tomato Harvesting." Applied and Computational Engineering 153, no. 1 (2025): 9–15. https://doi.org/10.54254/2755-2721/2025.22939.

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As a key process in agricultural production, the demand for high-efficiency and high-quality tomato harvesting is continuously rising with the rapid advancement of smart agriculture. However, conventional rigid manipulators often fail to meet the needs of intelligent harvesting due to the limitations of adaptability, dexterity, and safety. To address these challenges, this study proposes a silicone-based fin-ray soft gripper inspired by bio-mimetic fin structures. The gripper is designed to adaptively deform when grasping tomatoes, thereby enhancing grip stability while minimizing mechanical damage. The grippers mechanical performance is evaluated through SolidWorks modeling and built-in simulation analysis. Static analysis result shows uniform stress distribution, free-end displacement for adaptability, and controlled strain along ribs, confirming its flexibility and reliability under load conditions. Additionally, a closed-loop control system integrated with tactile sensors is developed to enable adaptive force regulation, further improving the intelligence of the harvesting process. The stress, displacement, and strain analyses demonstrate that under a 30N load, the designed gripper exhibits uniform stress distribution, excellent flexibility, and favorable mechanical properties. Compared to conventional grippers, this design offers significant improvements in notable flexibility, safety, and operational efficiency. This research provides an innovative end-effector solution for tomato-harvesting robots and serves as a valuable technical reference for the automated harvesting of other crops. It further demonstrates the significant application potential and scalability of agricultural harvesting grippers.

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Lynch, Patrick, Michael F. Cullinan, and Conor McGinn. "Adaptive Grasping of Moving Objects through Tactile Sensing." Sensors 21, no. 24 (2021): 8339. http://dx.doi.org/10.3390/s21248339.

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A robot’s ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object in motion. It was hypothesised that combining tactile sensor data with a reactive grasping strategy could improve its robustness to prediction errors, leading to a better, more adaptive performance. Using a two-finger gripper, we evaluated the performance of two algorithms to grasp a ball rolling on a horizontal plane at a range of speeds and gripper contact points. The first approach involved an adaptive grasping strategy initiated by tactile sensors in the fingers. The second strategy initiated the grasp based on a prediction of the position of the object relative to the gripper, and provided a proxy to a vision-based object tracking system. It was found that the integration of tactile sensor feedback resulted in a higher observed grasp robustness, especially when the gripper–ball contact point was displaced from the centre of the gripper. These findings demonstrate the performance gains that can be attained by incorporating near-field sensor data into the grasp strategy and motivate further research on how this strategy might be expanded for use in different manipulator designs and in more complex grasp scenarios.

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Cheng, Li-Wei, Shih-Wei Liu, and Jen-Yuan Chang. "Design of an Eye-in-Hand Smart Gripper for Visual and Mechanical Adaptation in Grasping." Applied Sciences 12, no. 10 (2022): 5024. http://dx.doi.org/10.3390/app12105024.

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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 of a universal grasping device acting as an end-effector to a robotic manipulator has been one of the main robotic research and development focuses. Therefore, this study was aimed at the development of a general robotic gripper with three fingers for adaptive actuation and an eye-in-hand vision system. With the adaptive actuation feature, each finger of the robotic gripper contained multiple degrees of freedom that allowed the finger to change its shape to wrap around an object’s geometry adaptively for stable grasping. With the eye-in-hand configuration in the adaptive gripper, it offered advantages including occlusion avoidance, intuitive teleoperation, imaging from different angles, and simple calibration. This study proposed and integrated a plug-and-play gripper module, controller module, and visual calculation module all in the model smart gripper, of which the gripper was further validated by calibrated experiments. The proposed gripper featured mechanical adaptation and visual servoing adaptivity to achieve 100% gripping success rate when gripping a moving target of any shape that was carried by conveyor belt with moving speed less than 70 mm/s. By integrating mechanical and visual adaptivity, the proposed gripper enabled the inclusion of intelligence in robotic applications and can further be used in smart manufacturing and intelligent robotic applications.

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Białek, Marcin, and Dominik Rybarczyk. "A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws." Applied Sciences 13, no. 3 (2023): 1247. http://dx.doi.org/10.3390/app13031247.

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This paper presents a comparative study of the use of different fingertips in robotic gripper jaws with respect to measuring the pulling force of selected shaped objects from their grasp. The authors built a dedicated test stand and provided methodology to evaluate it. The authors’ innovative approach was to design accessory-controlled jaws for the base of the Robotiq 2F-140 gripper. For the study, rigid structures—flexible soft cushions filled with air and magnetorheological fluid (MRF)—were developed for the jaw. In this way, comparable measurement results were obtained in terms of the structure of the gripper set-up. The secondary purpose of the study was to demonstrate the potential of the soft cushions that are adaptable to the shape of a gripped object. As a result, an adaptive structure was obtained that allows object pulling forces that are comparable to rigid fingertips. In doing so, this does not damage the surface of any of the interacting components. The cushions were made of thermoplastic polyurethane (TPU) formed using 3D printing technology. The results obtained during the implementation of this research may be beneficial for comparing gripper capabilities; thus, they can contribute to advances in smart devices and many industrial fields, including robotics and bioengineering.

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Ballesteros, Joaquin, Francisco Pastor, Jesús M. Gómez-de-Gabriel, Juan M. Gandarias, Alfonso J. García-Cerezo, and Cristina Urdiales. "Proprioceptive Estimation of Forces Using Underactuated Fingers for Robot-Initiated pHRI." Sensors 20, no. 10 (2020): 2863. http://dx.doi.org/10.3390/s20102863.

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In physical Human–Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper’s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback—current, position and torque—and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.

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Abylay, Kaimov, Kaimov Suleimen, Syrgaliyev Yerzhan, et al. "Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction." Eastern-European Journal of Enterprise Technologies 1, no. 7(115) (2022): 48–58. https://doi.org/10.15587/1729-4061.2022.253135.

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The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.

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Jung, Gwang-Pil, Je-Sung Koh, and Kyu-Jin Cho. "Underactuated Adaptive Gripper Using Flexural Buckling." IEEE Transactions on Robotics 29, no. 6 (2013): 1396–407. http://dx.doi.org/10.1109/tro.2013.2273842.

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Petković, Dalibor, Mirna Issa, Nenad D. Pavlović, Lena Zentner, and Žarko Ćojbašić. "Adaptive neuro fuzzy controller for adaptive compliant robotic gripper." Expert Systems with Applications 39, no. 18 (2012): 13295–304. http://dx.doi.org/10.1016/j.eswa.2012.05.072.

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Kaimov, Abylay, Yerzhan Syrgaliyev, Amandyk Tuleshov, et al. "Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction." Eastern-European Journal of Enterprise Technologies 1, no. 7(115) (2022): 48–58. http://dx.doi.org/10.15587/1729-4061.2022.253135.

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The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.

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Ruiz-Ruiz, Francisco J., Cristina Urdiales, and Jesús M. Gómez-de-Gabriel. "Estimation of the Interaction Forces in a Compliant pHRI Gripper." Machines 10, no. 12 (2022): 1128. http://dx.doi.org/10.3390/machines10121128.

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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 sensing is vital for pHRI, as constant occlusions while grasping make it hard to rely on vision or range sensors alone. More specifically, measuring interaction forces in the gripper is crucial to avoid injuries, predict user intention and perform successful collaborative movements. This work exploits the inherent compliance of a gripper with four underactuated fingers which was previously designed by the authors and designed to manipulate human limbs. A new analytical model is proposed to calculate the external interaction forces by combining all finger forces, which are estimated by using the gripper proprioceptive sensor readings uniquely. An experimental evaluation of the method and an example application in a control system with active compliance have been included to evaluate performance. The results prove that the proposed finger arrangement offers good performance at measuring the lateral interaction forces and torque around the gripper’s Z-axis, providing a convenient and efficient way of implementing adaptive and compliant grasping for pHRI applications.

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Kim, YoungHwan, JeongPil Shin, Jeeho Won, Wonhyoung Lee, and TaeWon Seo. "LBH gripper: Linkage-belt based hybrid adaptive gripper design for dish collecting robots." Robotics and Autonomous Systems 185 (March 2025): 104886. https://doi.org/10.1016/j.robot.2024.104886.

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Moon, Sun-Young, and Myun-Joong Hwang. "An Adaptive Soft Gripper for Fruit Harvesting." Journal of Institute of Control, Robotics and Systems 28, no. 7 (2022): 664–70. http://dx.doi.org/10.5302/j.icros.2022.22.0041.

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Maggi, Matteo, Giacomo Mantriota, and Giulio Reina. "Introducing POLYPUS: A novel adaptive vacuum gripper." Mechanism and Machine Theory 167 (January 2022): 104483. http://dx.doi.org/10.1016/j.mechmachtheory.2021.104483.

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Petkovic´, Dalibor, and Nenad D. Pavlovic´. "Compliant multi-fingered passively adaptive robotic gripper." Multidiscipline Modeling in Materials and Structures 9, no. 4 (2013): 538–47. http://dx.doi.org/10.1108/mmms-11-2012-0017.

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Huang, Shiuh-Jer, Wei-Han Chang, and Jui-Yiao Su. "Intelligent robotic gripper with adaptive grasping force." International Journal of Control, Automation and Systems 15, no. 5 (2017): 2272–82. http://dx.doi.org/10.1007/s12555-016-0249-6.

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Ali, Zain Anwar, and Xinde Li. "Modeling and controlling of quadrotor aerial vehicle equipped with a gripper." Measurement and Control 52, no. 5-6 (2019): 577–87. http://dx.doi.org/10.1177/0020294019834040.

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Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. Although model reference adaptive control deals with the uncertainties as well as attitude controlling of unmanned aerial vehicle, baseline controller is utilized to control the gripper, remove unwanted constant errors and disturbances during arm movement. The proposed control structure is applied in 6-degree-of-freedom nonlinear model of a quadrotor unmanned aerial vehicle equipped with gripper having (2 degrees of freedom) robotic limb; it is applicable for the simulations to desired path of unmanned aerial vehicle and to grasp object. Moreover, the efficiency of the presented control structure is compared with optimal baseline controller. It is observed that the proposed control algorithm has good transient behavior, better robustness in the presence of continuous uncertainties and gripper movement involved in the model of unmanned aerial vehicle.

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Li, Xinxin, Wenqing Chen, Xiaosong Li, et al. "An Underactuated Adaptive Microspines Gripper for Rough Wall." Biomimetics 8, no. 1 (2023): 39. http://dx.doi.org/10.3390/biomimetics8010039.

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Wall attachment has great potential in a broad range of applications such as robotic grasping, transfer printing, and asteroid sampling. Herein, a new type of underactuated bionic microspines gripper is proposed to attach to an irregular, rough wall. Experimental results revealed that the gripper, profiting from its flexible structure and underactuated linkage mechanism, is capable of adapting submillimeter scale roughness to centimeter scale geometry irregularity in both normal and tangential attachment. The rigid-flexible coupling simulation analysis validated that the rough adaptation was achieved by the passive deformation of the zigzag flexible structure, while the centimeter-scale irregularity adaptation come from the underactuated design. The attachment test of a spine confirmed that a 5 mm sliding distance of the spine tip on the fine brick wall promises a saturated tangential attachment force, which can guide the stiffness design of flexible structure and parameter selection of underactuated linkage. Furthermore, the developed microspines gripper was successfully demonstrated to grasp irregular rocks, tree trunks, and granite plates. This work presents a generally applicable and dexterous passive adaption design to achieve rough wall attachment for flat and curved objects, which promotes the understanding and application of wall attachment.

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Deaconescu, Andrea, and Tudor Deaconescu. "Compliant Parallel Asymmetrical Gripper System." Technologies 13, no. 2 (2025): 86. https://doi.org/10.3390/technologies13020086.

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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.

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Liu, Chih-Hsing, Chen-Hua Chiu, Mao-Cheng Hsu, Yang Chen, and Yen-Pin Chiang. "Topology and Size–Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects." Robotica 37, no. 08 (2019): 1383–400. http://dx.doi.org/10.1017/s0263574719000018.

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SummaryThis study presents an optimal design procedure including topology optimization and size–shape optimization methods to maximize mechanical advantage (which is defined as the ratio of output force to input force) of the synthesized compliant mechanism. The formulation of the topology optimization method to design compliant mechanisms with multiple output ports is presented. The topology-optimized result is used as the initial design domain for subsequent size–shape optimization process. The proposed optimal design procedure is used to synthesize an adaptive compliant gripper with high mechanical advantage. The proposed gripper is a monolithic two-finger design and is prototyped using silicon rubber. Experimental studies including mechanical advantage test, object grasping test, and payload test are carried out to evaluate the design. The results show that the proposed adaptive complaint gripper assembly can effectively grasp irregular objects up to 2.7 kg.

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Deaconescu, Tudor, and Andrea Deaconescu. "Structural, Kinematic and Static Modelling of a Pneumatic Muscle Actuated Gripper System." Applied Mechanics and Materials 811 (November 2015): 318–22. http://dx.doi.org/10.4028/www.scientific.net/amm.811.318.

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The paper presents the stages of the development process of a novel, light and eco-friendly, bionic type gripper system. The motions necessary for gripping are achieved by original, auto-adaptive, bio-inspired systems with the pneumatic muscle as motion generator. The method utilised for developing the novel gripper system is analogy-based design, a tool aimed at widening the field of inspiration for design by adding models from nature. Further paper discusses the structure of the gripper system and determination of the speeds and forces/torques transmission functions.

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Bogdanov, Aleksej, Aleksandr Permyakov, and Yulija Zhdanova. "Synthesis of structural scheme of drive of adaptive multiple-link gripper." MATEC Web of Conferences 161 (2018): 03009. http://dx.doi.org/10.1051/matecconf/201816103009.

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The problem of construction of drive of multiple-link gripper capable to operate with human infrastructure objects is considered in the article. Technical specifications of structural scheme of actuating link group of a gripper are determined with reference to analysis of human hand finger bones motion. Structural scheme of system of motion transmission to the output links that realizes group drive and does not have kinematic correspondence of links is recommended. Synthesis of structural scheme is accomplished on the basis of providing of adaptability of output links location to the grasped object surface contour. The key point of the construction is variability of output link according to the interaction with grasped object. This is provided by passive power connections which are initiated between output links and motion transmission system links. Sequence of functioning of actuating link group is represented. Keywords: synthesis, structural scheme, drive, multiple-link gripper, actuating link group, passive power connections.

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Liu, Yankai, and Wenzeng Zhang. "A Robot Gripper with Differential and Hoecken Linkages for Straight Parallel Pinch and Self-Adaptive Grasp." Applied Sciences 13, no. 12 (2023): 7042. http://dx.doi.org/10.3390/app13127042.

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Parallel pinch is an important grasp method. The end phalanx of the traditional parallel pinch and self-adaptive gripper moves in an arc trajectory, which requires the auxiliary lifting motion of the industrial manipulator, which is inconvenient to use. To solve this problem, a novel robot finger is designed and implemented—Hoecken’s finger. In this finger, the Hoecken linkage mechanism is used to realize the straight-line trajectory of the end joint, the differential mechanism set on the surface of the phalanxes is used to realize the shape self-adaptation of the first and second phalanxes, and the parallel four-bar linkage in series is used to realize the attitude keeping, thus comprehensively realizing the underactuated gripper driven by a single motor. After analyzing the grasp force and grasp motion of Hoecken’s fingers, the optimized parameters are obtained, and the Hoecken’s gripper is developed. The experimental results show that the gripper can realize the self-adaptive grasp function of straight parallel pinch, the grasp is stable, and the grasp range is large. It can be applied to more scenes that need to grasp objects.

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Wang, Ruchao, Zhiguo Lu, Yiru Wang, and Zhongqing Li. "The Design and Analysis of a Lightweight Robotic Arm Based on a Load-Adaptive Hoisting Mechanism." Actuators 14, no. 2 (2025): 71. https://doi.org/10.3390/act14020071.

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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.

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Song, Sukho, Dirk‐Michael Drotlef, Donghoon Son, Anastasia Koivikko, and Metin Sitti. "Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper." Advanced Science 8, no. 17 (2021): 2100641. http://dx.doi.org/10.1002/advs.202100641.

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Kumar, Dr A. Dinesh. "Underwater Gripper using Distributed Network and Adaptive Control." Journal of Electrical Engineering and Automation 2, no. 1 (2020): 43–49. http://dx.doi.org/10.36548/jeea.2020.1.005.

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Underwater identification and grasping of objects is a major challenge faced by the marine engineers even today. Nowadays, almost all underwater operations are either autonomous or tele-operated. In fact remotely operated vehicles (ROVs) are used to deal with inspection tasks and industrial maintenance whenever there is need for intervention. However, the field of autonomous underwater vehicle (AUV) is a blooming filed with research involving proper moving base control and forces interacting which leads to complicated configuration. Hence the presented work is focused implementation of end-effector with appropriate control and signal processing resulting in autonomous manipulation of movement under water.

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Kaviyarasan, S., and I. Infanta Mary Priya. "Design and fabrication of three finger adaptive gripper." IOP Conference Series: Materials Science and Engineering 402 (September 20, 2018): 012043. http://dx.doi.org/10.1088/1757-899x/402/1/012043.

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Zhdanova, Yu I., V. V. Moshkin, and I. G. Zhidenko. "Method of adaptive gripper drive control signal formation." Journal of Physics: Conference Series 1515 (April 2020): 042046. http://dx.doi.org/10.1088/1742-6596/1515/4/042046.

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44

Kim, Yong-Jae, Hansol Song, and Chan-Young Maeng. "BLT Gripper: An Adaptive Gripper With Active Transition Capability Between Precise Pinch and Compliant Grasp." IEEE Robotics and Automation Letters 5, no. 4 (2020): 5518–25. http://dx.doi.org/10.1109/lra.2020.3008137.

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Sârbu, F., A. Deaconescu, and T. Deaconescu. "Adjustable compliance soft gripper system." International Journal of Advanced Robotic Systems 16, no. 4 (2019): 172988141986658. http://dx.doi.org/10.1177/1729881419866580.

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This article proposes a novel, innovative, soft gripper system developed for the manipulation of objects of unknown or unspecified shape and consistence. This could be achieved by the utilization of a linear pneumatic muscle benefitting from an inherently compliant behaviour. A gripper system of this type does not require the presence of sensors or complex controllers, as it is the mechanical system itself that provides the required adaptive behaviour. The compliance of the system is ensured by the variations of the air pressure fed to the pneumatic muscle, monitored and controlled in a closed loop by means of proportional pressure regulator.

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Kim, Mijin, Rubaya Yaesmin, Hyungtak Seo, and Hwang Yi. "Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers." Biomimetics 10, no. 5 (2025): 284. https://doi.org/10.3390/biomimetics10050284.

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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.

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Syafeeza, A. R., Norihan Abdul Hamid, Man Ling Eng, Guan Wei Lee, Hui Jia Thai, and Azureen Naja Amsan. "Robotic Arm Gripper Using Force Sensor for Crop Picking Mechanism." Journal of Telecommunication, Electronic and Computer Engineering (JTEC) 14, no. 4 (2022): 11–15. http://dx.doi.org/10.54554/jtec.2022.14.04.002.

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A dynamic gripper with qualities that resemble the human hand as closely as possible is sought after in the field of robotics. The idea of a robotic arm has been used in various cutting-edge technology fields, including agriculture, to assist people or farmers in carrying out regular tasks, such as gathering fruit, etc. The robot arm's end effector is one of the essential parts of the robot that we can configure based on their tasks, such as a spraying adaptor for fertilization function or a gripper for the picking mechanism. Since fruits have a delicate and fragile surfaces, it is vital to have a gripper with a smooth contact surface that can apply the right amount of force to pick the fruits without causing any bruising that can degrade the crop's quality. Hence, this paper proposes a robotic arm gripper design for the crop-picking mechanism using a force sensor as the main component of the Arduino Uno embedded system. The reliability result for the chili obtained is around 95% showing that this design is promising for designing an adaptive robotic arm gripper.

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Lee, Jae-Young, Seong J. Cho, Yong-Sin Seo, et al. "Shape-adaptive Stiffness Variable Soft Gripper Using Porous Structure." Journal of Institute of Control, Robotics and Systems 27, no. 3 (2021): 238–46. http://dx.doi.org/10.5302/j.icros.2021.20.0203.

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Nie, Kaidi, Weiwei Wan, and Kensuke Harada. "An Three-ngered Adaptive Gripper for Peg Insertion Tasks." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 1A1—D04. http://dx.doi.org/10.1299/jsmermd.2018.1a1-d04.

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Belzile, Bruno, and Lionel Birglen. "A compliant self-adaptive gripper with proprioceptive haptic feedback." Autonomous Robots 36, no. 1-2 (2013): 79–91. http://dx.doi.org/10.1007/s10514-013-9360-1.

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Journal articles on the topic 'Adaptive gripper'

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