Conductive Gel-Based Contact Sensor Embedded in a Low-Cost 3D-Printed Two-Flexible-Finger Gripper for Grasping Fragile Objects

This paper presents the design, development, and control of a low-cost two-flexible-finger robotic gripper for grasping fragile objects. The gripper is fabricated using 3D-printed materials, with flexible fingers made from TPU (95A shore hardness), equipped with conductive gel-based contact sensors and strain gauges for force feedback. The system is driven by a DC motor, and the control scheme includes position-force control to ensure delicate grasping. The gripper operates in two stages: object approach and controlled force application, with adaptive control parameters based on sensor feedback to prevent damage to fragile items. Experimental tests demonstrate the gripper’s capability to grasp fragile objects such as Christmas ornaments and eggs, validating the design and control strategy.