Proprioceptive Soft Pneumatic Gripper for Extreme Environments Using Hybrid Optical Fibers

Abstract

Soft pneumatic robotic grippers can be used to conduct a wide range of tasks in extreme environments as they are generally free of conductive or magnetic components. But the sensorization of these grippers can potentially make them unsuitable for such environments and lower their performance through the introduction of electronic components or conductive materials into their structure. This work introduces the design of a sensorized soft pneumatic gripper using hybrid optical fibers making use of rigid and hard segments to measure the bending deformation and the contact force at specific segments of the finger. Using rigid optical fibers, which has low optical loss, for optical signal transmission allows to place all electronic components outside and away from the gripper ensuring the structure of the gripper and its nearby components are non-conductive and non-magnetic. The utilization of rigid reinforcements on the soft pneumatic actuator also helps maintain the performance of the actuator close to existing non-sensorized soft pneumatic actuators. This sensorized actuator is then used in a proprioceptive soft robotic gripper capable of controlling its grasping force.