{rfName}
Pa

Indexed in

License and use

Citations

1

Altmetrics

Grant support

The research leading to these results was supported in part by the following: (i) the Grant PID2020-116270RB-I00 funded by MCIN/AEI/10.13039/501100011033; (ii) the Grant TED2021-132710B-I00 funded by MCIN/AEI/10.13039/501100011033 and by the "European Union NextGenerationEU/PRTR"; (iii) iRoboCity2030-CM, Robotica Inteligente para Ciudades Sostenibles (TEC-2024/TEC-62), funded by the Programas de Actividades I+D en Tecnologias en la Comunidad de Madrid; and (iv) CSIC under Grant 202350E072, Proyecto Intramural IAMC-ROBI-II (Inteligencia Artificial y Mecatronica Cognitiva para la Manipulacion Robotica Bimanual-2 degrees Fase).

Analysis of institutional authors

Rodriguez-Nieto, DanielAuthor

Share

March 22, 2025
Publications
>
Article
No

Parallel Fin Ray Soft Gripper with Embedded Mechano-Optical Force Sensor

Publicated to:Applied Sciences-Basel. 15 (5): 2576- - 2025-03-01 15(5), DOI: 10.3390/app15052576

Authors: Navas, Eduardo; Rodriguez-Nieto, Daniel; Rodriguez-Gonzalez, Alain Antonio; Fernandez, Roemi

Affiliations

Univ Politecn Madrid, PhD Program Automat & Robot, Calle Jose Gutierrez Abascal 2, Madrid 28006, Spain - Author
UPM, Ctr Automat & Robot, CSIC, Carretera CAMPO REAL Km 0-2, Madrid 28500, Spain - Author

Abstract

The rapid advancement in soft robotics over the past decade has driven innovation across the industrial, medical, and agricultural sectors. Among various soft robotic designs, Fin Ray-inspired soft grippers have demonstrated remarkable adaptability and efficiency in handling delicate objects. However, the integration of force sensors in soft grippers remains a significant challenge, as conventional rigid sensors compromise the inherent flexibility and compliance of soft robotic systems. This study presents a parallel soft gripper based on the Fin Ray effect, incorporating an embedded mechano-optical force sensor capable of providing linear force measurements up to 150 N. The gripper is entirely 3D printed using thermoplastic elastomers (TPEs), ensuring a cost-effective, scalable, and versatile design. The proposed sensor architecture leverages a gyroid lattice structure, yielding a near-linear response with an R2 value of 0.96 across two force regions. This study contributes to the development of sensorized soft grippers with improved force-sensing capabilities while preserving the advantages of soft robotic manipulators.

Keywords

3d printe3d printedAgricultural sectorEnd effectorFin ray effectForce measurementForce sensorGrippersIndustrial sectorIntelligent robotsManipulatorsMedical roboticsOptical forcePlastic partsPlastics formingRay effectsRobot applicationsRobotic designRobotic manipulationSoft roboticsStress analysis

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Applied Sciences-Basel due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2025, it was in position 258/439, thus managing to position itself as a Q1 (Primer Cuartil), in the category Materials Science, Multidisciplinary.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2025-07-06:

  • Scopus: 1

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-06:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 4 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

    It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

    • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

    Leadership analysis of institutional authors

    There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Navas, Eduardo) and Last Author (Fernandez, Roemi).

    the authors responsible for correspondence tasks have been Navas, Eduardo and Fernandez, Roemi.