Three-Finger Borescope-Mounted IPMC Gripper

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.
• 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.