Control of untethered soft grippers for pick-and-place tasks

Federico Ongaro, ChangKyu Yoon, Frank van den Brink, Momen Abayazid, Seung Hyun Oh, David H. Gracias, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

24 Citations (Scopus)
286 Downloads (Pure)


In order to handle complex tasks in hard-toreach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft small- scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft small-scale grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload
Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
EditorsS. Krukreja
Place of PublicationSingapore
ISBN (Print)978-150903287-7
Publication statusPublished - 26 Jun 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore
Duration: 26 Jun 201629 Jun 2016
Conference number: 6

Publication series

PublisherIEEE Computer Society
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782


Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated titleBioRob 2016
Internet address


  • METIS-317112
  • IR-100569

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