"Force Control of a 3D Printed Soft Gripper with Built-In Pneumatic Tou" by Charbel Tawk, Emre Sariyildiz et al.
This work reports on a soft gripper with three-dimensional (3D) printed soft monolithic fingers that seamlessly incorporate pneumatic touch sensing chambers (pTSCs) for real-time pressure/force control to grasp objects with varying stiffness (i.e., soft, compliant, and rigid objects). The fingers of the soft gripper were 3D printed simultaneously along with the pTSC, without requiring support materials, using an inexpensive fused deposition modeling 3D printer. The pTSCs embedded in the fingers have numerous advantages, including fast response, repeatability, reliability, negligible hysteresis...
Source: uow.edu.au