A reconfigurable Fin-Ray gripper with integrated Fiber Bragg Gratings for intrinsic force sensing

Balancing adaptability and precise force sensing in robotic grippers presents a significant design challenge. To address this, we present a reconfigurable flexible gripper whose Fin-Ray structured fingers can dexterously grasp objects of varying shapes and sizes. This paper’s primary innovation is the seamless integration of an intrinsic force sensing system, based on embedded Fiber Bragg Gratings (FBGs), into the gripper’s structure. This integrated approach allows for accurate measurement of contact forces, eliminating the performance compromises associated with external sensors. By establishing a deformation-to-force map via a finite element model, we demonstrate force estimation with a maximum relative error below 15%. Through extensive testing, we validate the gripper’s exceptional adaptability and force control capabilities. This research affirms the effectiveness of our integrated design and provides a new pathway for developing highly capable robotic hands for diverse and challenging manipulation scenarios.