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<p>Soft robotic grippers can handle delicate tasks but often lack tactile feedback for safe control. We present a 3D printed single-actuator three-finger Fin Ray inspired Flexi-Fin gripper with a laminated multilayer capacitive skin on each finger that provides real-time per-finger force sensing and slip onset detection from capacitance trends. The sensing layer is inexpensive and replaceable at about USD 0.20 per finger and fits into a shallow pocket that preserves compliance and avoids external housings. Our approach uses a simple on-board readout at high rate. Experiments show a linear force to capacitance calibration, gram-level resolution, 95% grasp success across objects from 5.4&#xa0;g to 244&#xa0;g, and stable operation over 1,000 task-matched cycles. The work contributes a minimal single-actuator design with in-finger sensing, a practical slip criterion usable in real time, and a reproducible low-cost build that lowers the barrier to adoption. While performance is robust for common shapes, grasping low-profile items remains a limitation. This compact and lightweight gripper offers an accessible route to adaptive gripping with practical tactile feedback.</p>

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Soft skin based 3D printed flexi-fin gripper with force feedback

  • 期刊论文

  • 发表日期：

    2026年8月5日

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  • Muhammad Umair Ahmad Khan,
  • Abubakar,
  • Muhammad Faizan

摘要

Soft robotic grippers can handle delicate tasks but often lack tactile feedback for safe control. We present a 3D printed single-actuator three-finger Fin Ray inspired Flexi-Fin gripper with a laminated multilayer capacitive skin on each finger that provides real-time per-finger force sensing and slip onset detection from capacitance trends. The sensing layer is inexpensive and replaceable at about USD 0.20 per finger and fits into a shallow pocket that preserves compliance and avoids external housings. Our approach uses a simple on-board readout at high rate. Experiments show a linear force to capacitance calibration, gram-level resolution, 95% grasp success across objects from 5.4 g to 244 g, and stable operation over 1,000 task-matched cycles. The work contributes a minimal single-actuator design with in-finger sensing, a practical slip criterion usable in real time, and a reproducible low-cost build that lowers the barrier to adoption. While performance is robust for common shapes, grasping low-profile items remains a limitation. This compact and lightweight gripper offers an accessible route to adaptive gripping with practical tactile feedback.