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Human-Centered Sensor Technologies for Soft Robotic Grippers: A Comprehensive Review.

Md Tasnim Rana1, Md Shariful Islam2, Azizur Rahman3

  • 1Bangladesh Council of Scientific and Industrial Research (BCSIR), Dhaka 1205, Bangladesh.

Sensors (Basel, Switzerland)
|March 17, 2025
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Summary

This review systematically classifies bio-robotic gripper sensors and their selection criteria using PRISMA methodology. It highlights sensor characteristics and proposes a selection flow diagram for soft robotic applications.

Keywords:
PRISMA methodologybio-roboticsgripper sensorsensor selectionsoft actuationsoft roboticstactile sensing

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Area of Science:

  • Bio-robotics
  • Soft Robotics
  • Sensor Technology

Background:

  • Bio-robotics increasingly mimics nature for environmental adaptation.
  • Bio-robotic grippers are crucial for physical interaction, with sensors vital for feedback.
  • Current bio-robotic gripper sensor selection lacks systematic classification.

Purpose of the Study:

  • To systematically review and classify bio-robotic gripper sensors.
  • To explore challenges and selection considerations for soft robotic sensing systems.
  • To propose a structured approach for selecting appropriate sensors for soft robotic grippers.

Main Methods:

  • Systematic literature review following PRISMA methodology.
  • Discussion of challenges in soft robotic systems and sensing importance.
  • Classification of soft actuation, sensor characteristics, and modalities.

Main Results:

  • Challenges in soft robotic systems and the critical role of sensing are discussed.
  • Unique characteristics of soft robotic sensors (compliance, flexibility, etc.) are explored.
  • A categorization of sensors by modality (tactile, force, slippage) and specific technologies (piezoelectric, optical) is presented.

Conclusions:

  • A systematic classification and selection process for bio-robotic gripper sensors is needed.
  • Understanding sensor characteristics and modalities is key for effective soft robotic design.
  • A proposed flow diagram aids in selecting sensors tailored for specific soft robotic applications.