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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.
Sensors (Basel, Switzerland)
|February 13, 2026
Summary
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.
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.
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