Towards Efficient and Safe Robotic Manipulation: Tactile Sensing and Electroadhesive Gripping

Tactile sensors are vital for robotic manipulation, providing critical data on contact force magnitude and distribution to detect grasping states. However, their integration with rigid grippers often limits adaptability and efficacy, particularly when handling delicate objects. Similarly, while soft electroadhesive grippers offer advantages in grasping fragile materials, challenges in deformation, compactness, and precise control persist due to inadequate sensing capabilities. Conventional combinations of tactile sensing and electroadhesion gripping, which typically relies on multilayer fabrication, usually result in hardness mismatches that impair performance. To overcome these limitations, this study presents a novel soft gripper that seamlessly integrates tactile sensing and electroadhesive functionalities within a monolithic silicone membrane. This design enables precise force detection, adaptability to diverse object geometries, and reliable gripping. Experimental results demonstrate effective manipulation of small conductive and insulating objects, enhancing robotic efficiency and safety.