Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status

With the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, field of gripper with a soft structure that can grip move objects without damaging them has attracted considerable attention. This paper proposes variable-stiffness gripper, based on previous designs, an added silicone coating increased friction EGaIn sensor monitoring forces. The in this study was constructed by connecting structures rigid using tendons fixed structures. Furthermore, more responsive compared existing sensors designed adding bumps path traced alloy. After selecting appropriate fingertip shape, changes output corresponding object held were observed, confirming strength device could be changed according intended purpose.