An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation.

ABSTRACT: High compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positioning. In this study, a pneumatically driven and self-powered soft robotic gripper that can recognize the grabbed object is reported. We integrated pressure (P-TENG) and bend (B-TENG) triboelectric sensors into a soft robotic gripper to transduce the features of gripped objects in a pick-and-place operation. Both the P-TENG and B-TENG sensors are fabricated using a porous structure made of soft Ecoflex and Euthethic Gallium-Indium nanocomposite (Eco-EGaIn). The output voltage of this porous setup

SUBMITTER: Goh QL 

PROVIDER: S-EPMC9030518 | biostudies-literature | 2022 Apr

REPOSITORIES: biostudies-literature