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  1. Home
  3. Bioinspired Swallowing Soft Gripper With Toroidal Optical Waveguides For Multimodal Interactive Perception.
  1. Home
  3. Bioinspired Swallowing Soft Gripper With Toroidal Optical Waveguides For Multimodal Interactive Perception.

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Bioinspired Swallowing Soft Gripper with Toroidal Optical Waveguides for Multimodal Interactive Perception.

Sheng Xiang1, Muye Niu1, Wenjie Fang1

  • 1School of Automation, CICAEET, Nanjing University of Information Science and Technology, Nanjing, China.

Soft Robotics
|May 29, 2026

View abstract on PubMed

Summary
This summary is machine-generated.

This study introduces a novel soft gripper inspired by sea anemones, utilizing optical waveguides for advanced sensing. It enables adaptive grasping and detailed object perception, enhancing robotic capabilities in delicate handling tasks.

Keywords:
machine learningmultimodal soft gripperoptical waveguidesproprioception

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Integrating sensors into soft grippers for multimodal sensing under deformation is challenging.
  • Existing soft grippers lack continuous proprioceptive feedback and adaptive grasping strategies for diverse objects.

Purpose of the Study:

  • To develop a multimodal soft gripper with integrated optical waveguides for continuous proprioceptive feedback.
  • To enable adaptive grasping strategies including contacting, expansion, and swallowing modes.
  • To achieve real-time perception of object properties like shape, hardness, and texture.

Main Methods:

  • Integration of eight toroidal optical waveguides into a soft gripper structure.
  • Utilizing deformation-induced optical attenuation processed by machine-learning pipelines for sensing.
  • Implementing mode-specific sensing on outer, inner, and bottom interfaces of the gripper.

    • Main Results:

    • Achieved a detection limit of 0.04 N, resolution of 0.006 N, and response time of 55 ms.
    • Machine-learning classification demonstrated >89% accuracy in object property perception.
    • Successfully demonstrated multi-object swallowing and a breakfast task involving fragile item handling.

    Conclusions:

    • The developed soft gripper offers mode-switching interactive perception capabilities.
    • This design expands opportunities for soft robotics in fragile product handling and laboratory automation.
    • The biomimetic approach provides a novel solution for proprioceptive feedback in soft robotic systems.