Force feedback using fiber Bragg gratings embedded in a suction cup

Continuous monitoring of grasp quality is critical in various industrial processes. This study explores the use of Fiber Bragg Gratings (FBGs) for force monitoring in a silicone suction cup, a common tool in pick-and-place and packaging operations. A newly designed silicone suction cup with embedded FBGs was tested to analyze its response to different parameters, primarily vacuum level and weight. The embedded sensors enable accurate measurement of lifted weights for a given vacuum level and vice versa. The sensorized suction cup demonstrates linear behavior concerning vacuum level. Pick and place operation has been simulated, and the device can detect parts, optimize vacuum usage, and react to external disturbances, maintaining a secure grasping. This innovation provides valuable insights into industrial processes, prevents part slippage, minimizes energy consumption and it could enhance the capabilities of simpler grippers for more complex assembly tasks.