Abstract A pneumatic soft gripper, composed of multiple elastomeric materials, was designed and manufactured based on gripping simulations. The simulation results demonstrated that the different stiffnesses of the elastomeric materials can influence the internal air pressure required for the proper actuation of the gripper. Considering the substrate properties and the morphological changes of the soft gripper during gripping, a piezoresistive force sensor was developed using elastomers and conductive filaments with the aid of additive manufacturing techniques. We confirmed the reproducibility and stability of the proposed piezoresistive force sensor through evaluations under various fabrication conditions. Results from touch experiments and compressive force measurements indicated that the stiffness of the sensor substrate and the thickness of the conductive part of the sensor affected the sensitivity and reliability of the sensor with respect to different levels of applied forces. Incorporating a rigid panel between the soft gripper and the piezoresistive force sensor diminished the effect of the variable stiffness and curvature of the gripper on the measurement of electrical resistance generated by the piezoresistive force sensor. Our 3D-printed sensor combined with elastomeric materials showed the possibility of differentiating the simple actuation and the gripping demonstration of the soft gripper.
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