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This paper presents the development and pneumatic actuation of a soft robotic gripper, which is made of a flexible material through the molding process that allows the formation of complex geometries such as the internal chambers, whose design and arrangement produce the flexure of the finger. Finite element analysis is used to estimate the inflation pressure required for the actuation of the gripper. Experiments are demonstrated for handling objects of different geometries and rigidity. The use of embedded sensors for effective grasping is also proposed.

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Development and Actuation of a Biomimetic Soft Robotic Gripper with Integrated Sensor for Dexterous Manipulation

  • 会议论文

  • 发表日期：

    2026年

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  • Durga Susmitha Majeti,
  • Abdallah Mbarouk Kessy,
  • Poolan Vivekananda Shanmuganathan,
  • Michael Lucas Maganga

摘要

This paper presents the development and pneumatic actuation of a soft robotic gripper, which is made of a flexible material through the molding process that allows the formation of complex geometries such as the internal chambers, whose design and arrangement produce the flexure of the finger. Finite element analysis is used to estimate the inflation pressure required for the actuation of the gripper. Experiments are demonstrated for handling objects of different geometries and rigidity. The use of embedded sensors for effective grasping is also proposed.