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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).

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

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

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

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Resumen

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.

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