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Self-Sensing Soft Robotic Gripper via FFF for Collaborative Robotics

18 Nov 2025

Demonstrated as a plug-and-play module on Universal Robots collaborative arms, this work introduces a fully 3D-printed fin-ray effect (FRE) soft robotic gripper that combines actuation and self-sensing in a single, multimaterial FFF build. Multimaterial FFF with conductive TPU prints each finger by co-extruding a piezoresistive layer inside a non-conductive matrix; the layer functions as a distributed strain gauge, so finger curvature produces a resistance change and removes the need for discrete sensors or wiring. Prior investigations of piezoresistive TPU are thus advanced into an integrated gripper ready for deployment on the UR platform.

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