Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {He, L and Lu, Q and Abad, S-A and Rojas, N and Nanayakkara, DPT},
doi = {10.1109/lra.2020.2972851},
journal = {IEEE Robotics and Automation Letters},
pages = {2714--2721},
title = {Soft fingertips with tactile sensing and active deformation for robust grasping of delicate objects},
url = {},
volume = {5},
year = {2020}

RIS format (EndNote, RefMan)

AB - Soft fingertips have shown significant adaptability for grasping a wide range of object shapes, thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be challenging, as the exertion of additional forces on the fragile object can result in damage. This letter presents a novel soft fingertip design for delicate objects based on the concept of embedded air cavities, which allow the dual ability of tactile sensing and active shape-changing. The pressurized air cavities act as soft tactile sensors to control gripper position from internal pressure variation; and active fingertip deformation is achieved by applying positive pressure to these cavities, which then enable a delicate object to be kept securely in position, despite externally applied forces, by form closure. We demonstrate this improved grasping capability by comparing the displacement of grasped delicate objects exposed to high-speed motions. Results show that passive soft fingertips fail to restrain fragile objects at accelerations as low as 0.1 m/s 2 , in contrast, with the proposed fingertips delicate objects are completely secure even at accelerations of more than 5 m/s 2 .
AU - He,L
AU - Lu,Q
AU - Abad,S-A
AU - Rojas,N
AU - Nanayakkara,DPT
DO - 10.1109/lra.2020.2972851
EP - 2721
PY - 2020///
SN - 2377-3766
SP - 2714
TI - Soft fingertips with tactile sensing and active deformation for robust grasping of delicate objects
T2 - IEEE Robotics and Automation Letters
UR -
UR -
VL - 5
ER -