An Optical Shape Sensor for Integration in Soft Grippers

Publikationstyp
Conference Paper
Date Issued
2023-04
Sprache
English
Author(s)
Grube, Malte  
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-URI
http://hdl.handle.net/11420/15374
Citation
IEEE International Conference on Soft Robotics (RoboSoft 2023)
Contribution to Conference
IEEE 6th International Conference on Soft Robotics, RoboSoft 2023  
Publisher DOI
10.1109/RoboSoft55895.2023.10122071
Scopus ID
2-s2.0-85160526452
Peer Reviewed
true
Soft grippers are very popular for complex gripping tasks, as they can easily grip objects of different shapes. Also, usually they cannot damage gripped objects because of their inherent softness. Additionally, in contrast to rigid grippers no or only very little control effort is needed for the gripping process. However, also for soft grippers sensor feedback can help to improve the gripping process and thus expand the range of applications. Thereby, besides gripping force measurements, especially curvature measurements are of interest to reconstruct the deformation of the gripper. In this contribution, a soft three-finger-gripper with integrated optical shape sensor, based on curvature sensors, is presented. The shape sensor allows to control the gripping process and check if an object is gripped correctly.
Subjects
Integrated optics
Shape
Optical feedback
Process control
soft robotics
Optical variables measurement
Robot sensing systems