The fingers attach to an additively manufactured electric actuator housing an MCU. Closed-loop control samples finger resistance in real time, closes the gripper until a deformation threshold set in firmware is reached, and then holds the grasp. Geometry, sensor routing, and control parameters are parameterised in CAD, enabling rapid adaptation to varied gripping tasks; peaches (Ø 60–85 mm, 70–100 g) serve as a representative delicate fruit within the scope of the ROBOTA SUDOE project. DfAM optimisation yields a low-cost, repeatable unit that completes multiple pick-and-place cycles without bruising the fruits.
The study shows that embedded piezoresistive networks produced by FFF provide an economical route to compliant, intrinsically self-sensing grippers suitable for closed-loop manipulation of fragile goods in collaborative robotic environments.
Speaker: Martim Aguiar, Researcher, University of Beira Interior