Flexible Gripper Research Articles

A transforming flexahedron origami inspired gripper actuated by shape memory alloy

Abstract The transforming flexahedron origami (TFO) is a unique origami that combines the functions of fingers and palm, with a symmetrical distribution of four-finger structures and good shape adaptability. In this paper, inspired by the TFO configuration, a new type of reconfigurable gripper is designed. The kinematics and mechanics of the gripper are analyzed theoretically, and paper folding is used as the skeleton, thin film as the skin, shape memory alloy spring as the actuator, and active cooling is used to enhance the actuator efficiency. Different kinds of objects are used to test the gripping performance of the gripper, including shape adaptive ability and gripping robustness test, and the test results show that the gripper is with good gripping performance. The reconfigurable capability of the TFO configuration allows the hand gripper to have two gripping modes, adapting to the adaptive gripping of thin rod-like objects and curved objects, which is difficult to achieve with a single gripping mode. The TFO gripper provides a new way of thinking for the design of flexible and origami grippers in the future.

Environmentally Friendly, Dual-Responsive Actuator Based on Nafion, Carboxylated Multiwalled Carbon Nanotubes, and Polyethylene.

As a type of smart material, flexible stimulus-responsive actuators have become a hot research topic nowadays. However, flexible actuators responding to a single stimulus source are susceptible to external perturbations, which may lead to an unstable function or even failure. Therefore, in this paper, we proposed a bilayer actuator that can be driven by both humidity and light by combining the humidity-sensitive Nafion, carboxylated multiwalled carbon nanotubes (cMWCNT) with excellent photothermal conversion properties, and commercial polyethylene (PE) tape with good humidity insensitivity and thermal expansion. First, the cMWCNT-Nafion film was prepared by a solution casting method and bonded together with PE tape to obtain a bilayer actuator. Then, the effects of the cMWCNT mass fraction and film thickness on the humidity and light response performance of the bilayer actuator were investigated. The optimal ratios of raw materials were obtained for different stimulation sources, respectively. Furthermore, the performance of the bilayer actuator with the optimal ratios was tested; it was verified that the proposed dual-responsive actuator can realize different degrees of bending deformation under different relative humidity (RH) and ultraviolet (UV) light intensity with good stability. Finally, the application potential in multiple scenarios was further verified by applying the prepared cMWCNT-Nafion/PE bilayer actuator to a smart window, crawling robot, and flexible gripper. This paper will provide a meaningful reference for the development and performance optimization of high-performance dual-responsive actuators.

Design and Experimental Test of Rope-Driven Force Sensing Flexible Gripper.

Robotic grasping is a common operation scenario in industry and agriculture, in which the force sensing function is a significant factor to achieve reliable grasping. Existing force sensing methods of flexible grippers require intelligent materials or force sensors embedded in the flexible gripper, which causes such problems of higher manufacturing requirements and contact surface properties changing. In this paper, a novel rope-driven force sensing flexible gripper is designed based on the fin-shaped gripper structure, which can realize the grasping sensing functions of contact nodes and contact forces without the need for force sensors. Firstly, the rope-driven force sensing flexible gripper is designed, including the driving unit, the transmission part, the gripper unit, and the force sensing unit. The force sensing unit and the gripper unit are connected by rope, and the prototype of the rope-driven force sensing flexible gripper is completed. Secondly, a force sensing algorithm and control system based on finite element method and grasping geometric relationship are designed to realize the rope-driven force sensing flexible gripper grasping control and sensor data acquisition and processing. Finally, the experimental system of the rope-driven force sensing flexible gripper is built, and the grasping experimental tests of objects with different diameters and different contact nodes are carried out to verify the force sensing function of the rope-driven force sensing flexible gripper. The force sensing flexible gripper designed in this paper can provide a new idea for the design and force sensing method of intelligent robotic grasping system in robotic teaching, scientific research, and industrial applications.

Review of Flexible Robotic Grippers, with a Focus on Grippers Based on Magnetorheological Materials

Flexible grippers are a promising and pivotal technology for robotic grasping and manipulation tasks. Remarkably, magnetorheological (MR) materials, recognized as intelligent materials with exceptional performance, are extensively employed in flexible grippers. This review aims to provide an overview of flexible robotic grippers and highlight the application of MR materials within them, thereby fostering research and development in this field. This work begins by introducing various common types of flexible grippers, including shape memory alloys (SMAs), pneumatic flexible grippers, and dielectric elastomers, illustrating their distinctive characteristics and application domains. Additionally, it explores the development and prospects of magnetorheological materials, recognizing their significant contributions to the field. Subsequently, MR flexible grippers are categorized into three types: those with viscosity/stiffness variation capabilities, magnetic actuation systems, and adhesion mechanisms. Each category is comprehensively analyzed, specifying its unique features, advantages, and current cutting-edge applications. By undertaking an in-depth examination of diverse flexible robotic gripper types and the characteristics and application scenarios of MR materials, this paper offers a valuable reference for fellow researchers. As a result, it facilitates further advancements in this field and contributes to the provision of efficient gripping solutions for industrial automation.

Design and Experiment of Compound Transplanter for Sweet Potato Seedling Belt

To address the issues of high labor intensity, excessive manpower requirements, low planting spacing qualification rates, low planting depth qualification rates, and low operational efficiency associated with sweet potato transplanting, a sweet potato seedling belt transplanter has been designed. This machine can perform multiple processes: precision tillage and ridge shaping, orderly seedling feeding from rolls, the efficient separation of seedlings from the belt, flexible gripping and shaping, precise soil covering and the mechanism of exposing seedling tips. A three-factor, three-level orthogonal test was carried out using the forward speed of the machine, the pitch of the screw belt and the rotational speed of the screw as the influencing factors of the performance test, and the qualified rate of planting spacing and the qualified rate of planting depth as the evaluation indexes. The test results indicated that the significance order of the factors affecting the qualification rate for planting spacing with the optimal combination of factors was as follows: a forward speed of 0.3 m·s−1, a ribbon spacing of 60 mm, and a screw speed of 160 rpm. Field trials confirmed that under optimal conditions, the average qualification rate for planting spacing was 90.37%, meeting relevant technical standards and agronomic requirements.

Single-layer iron network microstructure magnetorheological elastomer for transparent soft actuator

The motion of a soft magnetic magnetorheological elastomer, a composite material consisting of soft magnetic fillers and an elastomeric matrix, is limited by the gradient of the applied magnetic field, making its application as an out-of-plane soft actuator difficult. In this study, an anisotropic soft magnetic magnetorheological elastomer-based transparent soft actuator with large out-of-plane deformation was fabricated using a very low concentration (1 vol%) of carbonyl iron particles as the soft magnetic fillers. An applied AC electric field treatment method was used to manipulate iron particles in silicone oil, assembling and depositing them onto a glass substrate to form a single-layer iron-network microstructure. A single-layer iron-network microstructure-based magnetorheological elastomer (SL-sMRE) film with initial self-buckling was fabricated by exploiting the swelling properties of the residual silicone oil and polydimethylsiloxane. The SL-sMRE film exhibited out-of-plane deformation with a very short reaction time (228 ms) under a uniform magnetic field. When stimulated by a non-uniform magnetic field, the SL-sMRE film deformed away from the permanent magnet, which was not possible with an isotropic film. An optically transparent SL-sMRE film was applied to a transparent flexible gripping device that could detect the surface of a gripped object in real time.

Magnetorheological and magnetic actuation behaviour of solvent cast 4D printed styrene-ethylene-butylene-styrene block copolymer based magnetorheological elastomeric materials

In this work styrene-ethylene-butylene-styrene (SEBS) block copolymer based smart magnetorheological elastomeric (MREs) materials have been additively manufactured using solvent-cast 4D Printing (SC-4DP) technique. The effect of carbonyl iron powder (CIP) content on the particle distribution, particle–matrix adhesion, surface and layer morphology of the 4D Printed MRE sample was investigated. CIP particles were observed to be well embedded and dispersed up to 60 wt% content. However, at higher CIP content the tendency of the particles to agglomerate increased significantly. Furthermore, samples with CIP content ≥70 wt% showed poor particle–matrix adhesion and possessed inter-layer coalescence defects. Investigations were also performed to evaluate the magnetic properties of MREs at room temperature. Magnetorheological behaviour was studied to evaluate the effect of varying magnetic field on dynamic viscoelastic properties. Magnetorheological effect increased from ∼79 % to ∼211 % with an increase in CIP content. However, the particle–matrix adhesion also significantly affected the magnetorheological effect for higher CIP content samples. Magnetic actuation capability of flexible MRE samples was evaluated for gripper-based application. SC-4D Printed flexible grippers were able to successfully grip, lift, and drop both the soft deformable and rigid freeform profile objects in different media (air and sodium hydroxide solution) suggesting suitability for remotely actuated gripper-based applications.

Wireless driven and self-sensing flexible gripper based on piezoelectric elastomer/high-entropy alloy magnetoelectric composite

The mechanical gripper shows significant importance as an alternative to manual work, but presents certain limitations in its gas or electric power with complex wire connection, presents limited available area and loud working noise, and lacks sensing function for feedback to the environment. In the present work, a novel magnetically driven and self-sensing flexible gripper was prepared based on piezoelectric elastomer and high-entropy alloy composite. The high-entropy alloy is prepared as FeCoNi(AlGa)0.5 to realize high permeability, while the piezoelectric elastomer is synthesized with superior elasticity and low modulus. The incorporation of FeCoNi(AlGa)0.5 into the piezoelectric elastomer exhibits high flexibility, magnetostriction performances and piezoelectric responses, reaching maximum strain of 1534.5 %, maximum magnetostrictive coefficient of 320 ppm and maximum piezoelectric response of 0.28 V/N. Meanwhile, the flexible gripper achieves synchronous wireless driven gripping function with a maximum lifting ratio to dead load over 41.38, and self-sensing function of target physical size with accuracy over 95 %. The flexible gripper shows maximum work power as low as 5 W. Thus, the magnetically driven and self-sensing flexible gripper shows great potential in intelligent industrial equipment.

Development of an Adaptive Force Control Strategy for Soft Robotic Gripping

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.

Design of Adaptive Grippers for Fruit-Picking Robots Considering Contact Behavior

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.

A bio-inspired strategy inspired by an elephant trunk to grip granules

Abstract The utilization of granular materials for transportation purposes has the potential to mitigate superfluous expenditures associated with the transportation process. Nevertheless, granular materials exhibit distinct flowability characteristics under specific circumstances, which can lead to challenges such as instability maintenance, intricate grasping tactics, and reduced efficiency throughout the grasping process. Hence, the grasping pattern of the trunk of the African elephant (Loxodonta Africana) was observed. Drawing inspiration from the aforementioned concept, this paper put forth a compelling approach centered around an air-powered flexible gripper platform comprising four distinct gripping stages. Our objective is to explore the correlation between the quantity of items and the supplementary pressure required to achieve successful gripping, while considering variations in object dimensions. This study has the potential to provide novel insights for enhancing the efficacy of granular material transportation through improved gripping mechanisms.

Automated handling of biological objects with a flexible gripper for biodiversity research

Automated handling of biological objects with a flexible gripper for biodiversity research

Visualized Sensing‐Integrated Multi‐Responsive Soft Actuator for On‐Demand Robotic Manipulation

AbstractResearch on small‐scale soft robots has emerged in recent years, and various soft actuators have been developed to implement various actions. Nevertheless, realizing self‐sensing alongside environmental sensing capabilities remains a challenge, largely due to the constraints imposed by compact dimensions and the limited load‐bearing capacity intrinsic to these robots. In this study, an innovative approach is introduced through the development of a visualized sensing integrated soft actuator, which harnesses the actuator's color as a straightforward and real‐time sensing medium. Additionally, a multi‐responsive actuation mechanism is adopted in which the actuator responds concurrently to both electric and magnetic fields. To exemplify the efficacy of this concept, the actuators are engineered as flexible soft grippers, thereby accommodating functions encompassing grasping and transporting. Relying on the color distribution manifested by the actuator, the actuator's self‐sensing ability alongside its capacity to discern object temperatures is demonstrated. Such a soft actuator provides new perspectives in the realm of soft robotics, showing great potential in diverse robotic applications.

Bioinspired flexible gripper for vacuum non-cooperative target capture

With the development of space exploration activities, the proliferation of non-cooperative targets in space, such as defunct satellites and space debris, has made the development of efficient and reliable non-cooperative target capture technologies in space a priority for space exploration. In this paper, a flexible gripper inspired by the dermo-muscular sac found in flatworms is presented to address the challenges of non-cooperative target capture in the vacuum environment of space. The gripper design leverages magnetorheological fluid and a magnetic field to enable adjustable stiffness, facilitating the effective grasping of delicate target objects while ensuring a stable connection post-capture. Extensive tests demonstrate the strong potential of the gripper for space applications, showcasing its ability to adjust pre-grip contact force and increase gripping force by adjusting indentation depth. The simplicity of the design contributes to ease of manufacturing, making it a promising tool for future space missions.

A Flexible Double-Sided Curvature Sensor Array for Use in Soft Robotics.

This paper describes the design, fabrication, integration, characterization, and demonstration of a novel flexible double-sided curvature sensor array for use in soft robotics. The paper explores the performance and potential applications of a piezoresistive sensor array consisting of four gold strain gauges on a flexible polyimide (PI) substrate arranged in a Wheatstone bridge configuration. Multiple sensor strips were arranged like the fingers of a hand. Integrating Shape Memory Alloy (SMA) foils alongside the fingers was explored to mimic a human hand-gripping motion controlled with temperature, while curvature sensor array strips measure the resulting finger shapes. Moreover, object sensing in a flexible granular material gripper was demonstrated. The sensors were embedded within Polydimethylsiloxane (PDMS) to enhance their tactile feel and adhesive properties. The findings of this study are promising for future applications, particularly in robotics and prosthetics, as the ability to accurately mimic human hand movements and reconstruct sensor surfaces paves the way for robotic hand functionality.

A method for grasp detection of flexible four-finger gripper

The flexible four-finger gripper, as a specialized robotic end-effector, is highly valued for its ability to passively adapt to the shape of objects and perform non-destructive grasping. However, the development of grasping detection algorithms for flexible four-finger grippers remains relatively unexplored. This paper addresses the unique characteristics of the flexible four-finger gripper by proposing a grasping detection method based on deep learning. Firstly, the Acute Angle Representation model (AAR-model), which is based on the structure of the flexible four-finger gripper and consists of grasp points and angles, is designed as the grasping representation model that reduces unnecessary rotations of the gripper and improves its versatility in grasping objects. Then, the Flexible Gripper Adaptive Attribute model (FGAA-model) is proposed to represent the grasping attributes of objects, calculate the grasp angles that meet the criteria of the AAR-model, and aggregate the AAR-models on the image data into a unified set, thereby circumventing the time-consuming process of pixel-level annotation. Finally, the Adaptive Grasping Neural Net (AGNN), which is based on Adaptive Feature Fusion and the Grasp Aware Network (AFFGA), is introduced by eliminating redundant network detection headers, fusing color and depth images as inputs, and incorporating a Series Atrous Spatial Pyramid (SASP) structure to produce more accurate grasp poses. Our method not only attains a remarkable accuracy of 97.62% on the Cornell dataset but also swiftly completes grasping detection within 25 ms. In practical robotic arm grasping tests, where a robot is outfitted with a flexible four-finger gripper, it successfully grasps unknown objects with a 96% success rate. These results underscore the reliability and real-time performance of our method, significantly enhancing the gripper's adaptability and precision when handling objects of varying sizes and shapes. This advancement provides a powerful technical solution for robots utilizing flexible four-finger grippers, enabling autonomous, real-time, and highly accurate grasping maneuvers. Moreover, it addresses the persistent challenge of the scarcity of efficient grasping detection techniques tailored for flexible four-finger grippers.

A Kirigami Multi‐Stable Flexible Gripper with Energy‐Free Configurations Switching

Inspired by the kirigami and recombination mechanism, a kirigami flexible gripper is presented. The configuration variation behaviors are realized by recombinant kirigami segments, and thus, with only head segment actuation, the gripper slickly deforms among different configurations. Revolutionizing the conventional deployable systems, the proposed design methodology can realize configuration variation‐locking integration, and reusing of multi‐stability property. To realize rapid configuration switching with the lowest energy input, a nested origami actuation, called trigger structure, is given. Furthermore, advanced design for the trigger structure is carried out, broadening the bistable state to four‐stable geometric configurations for enhanced reachable space of the flexible gripper. By combining the design of the advanced trigger structure, the flexible gripper enables an energy‐free switching behavior between deployed and curled configurations in symmetrical and asymmetrical planes. The asymmetrical configurations, induced by the multi‐stability property of the advanced trigger structure, make the flexible gripper appropriate for various moving velocities capture. The proposed kirigami multi‐stable flexible gripper has significant capture capability for moving targets with different types and motion attitudes. Summarily, the proposed kirigami multi‐stable flexible gripper opens a new avenue for flexible robots, with potential applications in space exploration, grippers, and beyond.

Prototyping of compliant grippers using FFF and TPU

PurposeThe purpose of this paper is to investigate the process of fused filament fabrication (FFF) of a compliant gripper (CG) using thermoplastic polyurethane (TPU) material. The paper studies the applicability of different CG designs and the efficiency of some design parameters.Design/methodology/approachAfter reviewing a number of different papers, two designs were selected for a number of exploratory experiments. Using design of experiments (DOE) techniques to identify important design parameters. Finally, the efficiency of the parts was investigated.FindingsThe research finds that a simpler design sacrifices some effectiveness in exchange for a remarkable decrease in production cost. Decreasing infill percentage of previous designs and 3D printing them, out of TPU, experimenting with different parameters yields functional products. Moreover, the paper identified some key parameters for further optimization attempts of such prototypes.Research limitations/implicationsThe cost of conducting FFF experiments for TPU increases dramatically with product size, number of parameters studied and the number of experiments. Therefore, all three of these factors had to be kept at a minimum. Further confirmatory experiments encouraged.Originality/valueThis paper addresses an identified need to investigate applications of FFF and TPU in manufacturing functional efficient flexible mechanisms, grippers specifically. While most research focused on designing for increased performance, some research lacks discussion on design philosophy, as well as manufacturing issues. As the needs for flexible grippers vary from high-performance grippers to lower performance grippers created for specific functions/conditions, some effectiveness can be sacrificed to reduce cost, reduce complexity and improve applicability in different robotic assemblies and environments.

Mimicking Emotional Chinese Calligraphy Using a Variable Stiffness Flexible Gripper

AbstractFlexible grippers require appropriate stiffness to ensure stability and efficiency in unpredictable environments. While combining materials with variable stiffness and elastomers holds significant promise in this regard, concurrently achieving actuation and stiffness modulation typically results in heightened structural complexity and responsiveness issues. In this study, a giant electrorheological dielectric elastomer (GERDE) with high dielectric and high electrorheological (ER) properties is obtained by introducing giant electrorheological particles into silicone elastomers, further substantiating the ability to functionally couple actuation and stiffness‐tuning, as well as application of a flexible gripper in mimicking emotive calligraphy. Specifically, GERDE exhibits better actuating (area strain rate of 33%) and ER performance (storage modulus increment of 1.5 MP) than existing conventional dielectric elastomer (DE) actuators (such as PDMS and VHB4910) under a low electric field. Compared to reported flexible grippers, bionic flexible grippers based on GERDE actuator have enhanced actuation, stiffness adjustment capability (i.e., stiffness is increased by 2.4 times), fast response (≈180 ms), and coupling effect, and can write Chinese calligraphy of different emotions by the same trajectory. This work provides ideas and methods for achieving the integration of actuator‐variable stiffness and emotional transmission in robots.

Fruit recognition and classification based on tactile information of flexible hand

In the field of agricultural production, the sorting of agricultural products is a basic operation performed by robot manipulators. Agricultural products are fragile and easily damaged, and their shape, texture and size are different. In order to ensure grasping compliance and the integrity of agricultural products. In this study, firstly, a three-layer flexible tactile sensor was designed and fabricated. The performance of the sensor was tested. Three functions were used to fit the relationship between the sensor pressure and the output voltage, and the function with the best fitting degree was selected for sensor calibration. The sensor exhibits two kinds of sensitivity under the loading of 0 ∼ 4 N.When the applied pressure is 0 ∼ 2.75 N, the sensitivity is 1.21 V / N. When the applied pressure is 2.75 ∼ 4 N, the sensitivity is 0.24 V / N. Then, the sensor and the flexible gripper are combined to build a tactile information acquisition platform to collect the original data set of the tactile sequence generated when the flexible hand grabs the fruit, and the original data is preprocessed. Finally, we evaluated the performance of Support Vector Machine (SVM), Random Forest (RF), K-Nearest Neighbor (KNN), Naive Bayes (NB) and Neural Network (NN) in fruit classification. The results show that the RF classifier achieves the highest accuracy in the training and testing stages, which are 98.64% and 93.06%, respectively, and the accuracy of other classifiers ranges from 66.43% to 95.83%. Our work is helpful to the realization of robotic tactile perception and non-invasive grasping in the field of agriculture, and can be helpful to fruit picking, handling, sorting and other related fields.