A gripper for flap separation and opening of sealed bags

TL;DR

This paper introduces a novel robotic gripper design that reliably separates and opens sealed hospital bags, addressing a common, physically demanding task with potential to improve safety and efficiency in clinical settings.

Contribution

The paper presents a new gripper design combining active dented-roller fingertips with compliant fingers for effective flap separation and seal opening in hospital bags.

Findings

The gripper reliably grasps and separates thin flexible flaps.

It withstands forces needed to open seals robustly.

Performance depends mainly on the normal force applied.

Abstract

Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for the preparation of the operating room, where the first step is to separate and grasp the flaps. We present a novel gripper design and opening strategy that enables reliable flap separation and robust seal opening. This capability addresses a high-volume repetitive hospital procedure in which nurses manually open up to 240 bags per shift, a physically demanding task linked to musculoskeletal injuries. Our design combines an active dented-roller fingertip with compliant fingers that exploit environmental constraints to robustly grasp thin flexible flaps. Experiments demonstrate that the proposed gripper reliably grasps and separates sealed bag flaps and other thin-layered materials from the hospital, the most sensitive variable affecting performance being the normal force applied. When two copies of the gripper grasp both flaps, the system withstands the forces needed to open the seals robustly. To our knowledge, this is one of the first demonstrations of robotic assistance to automate this repetitive, low-value, but critical hospital task.