A Perceptive Robotic Gripper Based on a Multi-Spherical-Joints Self-Adaptive Palm Structure (SAP-MSJs)

Abstract Robotic grippers with integrated sensing capabilities exhibit significant potential in interactive manipulation tasks. However, existing studies typically concentrate tactile sensors at the fingertips, overlooking the critical role of the palm during grasping, and thus the design of sensor-integrated palms remains insufficiently explored. To address this issue, this paper proposes a robotic gripper based on a multi-spherical-joints self-adaptive palm structure (SAP-MSJs). By strategically combining multiple levels of spherical joints, the palm passively conforms to the object during grasping and readily accommodates embedded orientation sensors. Using the measured joint pose angles in combination with a surface fitting algorithm, the gripper can rapidly reconstruct the surface model of the object. Experimental results demonstrate that the proposed perception method is accurate and reliable, and that the palm structure exhibits excellent compliance with objects of various shapes, providing a solid reference for future designs of sensor-integrated robotic palms.