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There are many examples of pressure in fluids in everyday life, such as in relation to blood (high or low blood pressure) and in relation to weather (high- and low-pressure weather systems). A given force can have a significantly different effect, depending on the area over which the force is exerted. For instance, a force applied to an area of 1 mm2 has a pressure that is 100 times greater than the same force applied to an area of 1 cm2. That's why a sharp needle is able to poke through...
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Fluid Pressure Sensing Strategy Suitable for Swallowing Soft Gripper.

Mingge Li1, Wenxi Zhang1, Quan Liu1

  • 1The School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China.

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|February 13, 2026
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Summary
This summary is machine-generated.

This study introduces a novel sensing method for soft grippers, using internal fluid pressure changes to detect object shape and size. This enables shape-adaptive grippers to achieve sensory grasping for improved object manipulation.

Keywords:
feedbackfluid pressuresoft grippersoft sensors

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Area of Science:

  • Robotics and Automation
  • Materials Science
  • Sensor Technology

Background:

  • Soft grippers offer high adaptability for diverse object handling.
  • Integrating sensing into compliant soft grippers remains a significant challenge due to material properties.
  • Previous work established a swallowing-type soft gripper design.

Purpose of the Study:

  • To develop a sensing capability for swallowing-type soft grippers.
  • To leverage internal fluid pressure variations for object perception.
  • To enable sensory grasping in shape-adaptive soft grippers.

Main Methods:

  • Derived a volume-pressure variation sensing model based on the geometric configuration of the sealed cavity.
  • Utilized the compression of a sealed cavity by an object during swallowing to alter internal fluid pressure.
  • Established the relationship between object interaction and fluid pressure changes.

Main Results:

  • Demonstrated the performance of the fluid pressure sensing method.
  • Successfully applied the sensing strategy in closed-loop control systems.
  • Achieved object classification by shape and sorting by size using the gripper.

Conclusions:

  • The developed fluid pressure sensing method enables swallowing-type soft grippers to perceive object information.
  • This approach provides a viable solution for sensory grasping in shape-adaptive soft grippers.
  • The study advances the integration of sensing capabilities into compliant robotic end-effectors.