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Topology-Optimized, Dual-Phase Gripper With Force Estimation for Underwater Operation
Zhong, Shuqiao Zheng, He Yao, Yihong Wan, Fang Zhou, Zhiyuan Song, Chaoyang Lin, Jian
Zhong, Shuqiao
Zheng, He
Yao, Yihong
Wan, Fang
Zhou, Zhiyuan
Song, Chaoyang
Lin, Jian
Supervisor
Department
Robotics
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Type
Journal article
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License
http://creativecommons.org/licenses/by/4.0/
Language
English
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Abstract
Addressing the critical trade-off between compliance and grasping force in underwater manipulation, this letter presents a novel topology optimization framework to automate the design of soft, variable-stiffness fingers from a single material. By employing multiple load cases within the optimization objective, our framework automatically synthesizes a finger structure that preserves the adaptive Fin Ray effect while exhibiting programmed, multi-stage stiffness. We utilize this method to realize a dual-phase finger, characterized by low initial stiffness for compliant contact with a compliant object and high subsequent stiffness for secure grasping. Quantitative comparisons validate this achievement with the optimized design yielding a grasping force 3.6 times higher than that of a Fin Ray finger with comparable softness, while simultaneously achieving an adaptation 2.8 times higher than that of a high-force Fin Ray variant. To enable damage-aware teleoperation, a flex sensor is embedded within the finger structure. We establish a mapping to grasping force via a piecewise-regressed model, whose structure directly reflects the finger's dual-phase mechanical behavior. The gripper is validated through a series of underwater experiments ranging from controlled laboratory tests to a nearshore field trial. This work establishes a new pathway for designing automated, single-material soft grippers with direct applications in complex underwater environments.
Citation
S. Zhong, H. Zheng, Y. Yao, F. Wan, Z. Zhou, C. Song , et al., "Topology-Optimized, Dual-Phase Gripper With Force Estimation for Underwater Operation," IEEE Robotics and Automation Letters, vol. 11, no. 6, pp. 7015-7022, 2026, https://doi.org/10.1109/lra.2026.3683323.
Source
IEEE Robotics and Automation Letters
Conference
Keywords
40 Engineering, 4009 Electronics, Sensors and Digital Hardware
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Publisher
IEEE