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Three-Finger Borescope-Mounted IPMC Gripper.

Wonjin Kim¹, Soohyun Lim¹, Sangryul Kim¹

¹Department of Mechanical Engineering, Seoul National University, Seoul, South Korea.

|May 7, 2026

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This study presents an integrated soft robotic gripper using ionic polymer-metal composites (IPMCs) for micromanipulation. A vision-based system enhances teleoperation by providing real-time feedback on grasp stability, improving precision.

Area of Science:

Soft robotics
Micro-manipulation
Biomimetic actuators

Background:

Ionic polymer-metal composites (IPMCs) offer large bending deformation and high force-to-weight ratios, making them suitable for soft actuators in millimeter-scale robotics.
Teleoperation in microscale environments is challenging due to limited sensory feedback, hindering precise control and grasp stability assessment.

Purpose of the Study:

To develop an integrated soft robotic system for micromanipulation using a novel three-channel IPMC gripper.
To introduce a vision-based operator assistance system to overcome the limitations of 2D visual feedback in teleoperation.
To enable quantitative evaluation of gripper performance and enhance operator precision.

Main Methods:

A three-channel IPMC gripper was fabricated using laser ablation for independent actuation.

Keywords:

IPMC borescope computer vision human-in-the-loop microgripper

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A vision-based system employing YOLOv8 segmentation processed real-time video feeds from a borescope.

The system provided visual cues for contact and grasp states during teleoperation.

Main Results:

The IPMC gripper demonstrated reliable grasping of diverse objects ranging from 0.3-6 mm.
The vision-based assistance system significantly improved operator precision and consistency.
Objective success metrics for gripper performance were established for the first time.

Conclusions:

The integrated soft robotic system enhances human capabilities in micromanipulation tasks.
The vision-based feedback system provides a robust solution for teleoperation challenges in microscale environments.
This work lays the foundation for future advancements in autonomous micro-robotic control.