GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure
Huixu Dong, Chao-Yu Chen, Chen Qiu, Chen-Hua Yeow, Haoyong Yu

TL;DR
This paper introduces a novel soft robotic gripper with a mechanically passive sensing mechanism using a 3D snap-through bistable structure, enabling versatile grasping without complex control systems.
Contribution
The design of a granary-shaped soft gripper with integrated mechanical force sensing via a snap-through bistable mechanism is a new approach that simplifies grasping and sensing.
Findings
Successfully grasped various soft and rigid objects
Maintained stability under external disturbances
Validated design with theoretical, simulation, and experimental results
Abstract
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high compliance and robustness to variance in object geometry; however, they are still limited by the corresponding sensing capabilities and actuation mechanisms. We propose a novel soft gripper that looks like a granary with a compliant snap-through bistable mechanism fabricated by integrated mold technology, achieving sensing and actuation purely mechanically. In particular, the snap-through bistable structure in the proposed gripper allows us to reduce the complexity of the mechanism, control, sensing designs since the grasping and sensing behaviors are completely passive. The grasping behaviors are automatically motivated once the trigger position of the…
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Taxonomy
TopicsSoft Robotics and Applications · Robot Manipulation and Learning · Advanced Surface Polishing Techniques
