Printable Soft Grippers with Integrated Bend Sensing for Handling of Crops

Handling delicate crops without damaging or bruising is a challenge facing the au-tomation of tasks within the agri-food sector, which encourages the utilization of soft grippers that are inherently safe and passively compliant. In this paper we present a brief overview of the development of a printable soft gripper integrated with printable bend sensors. The softness of the gripper fingers allows delicate crops to be grasped gently, while the bend sensors are calibrated to measure bending and detect contact. This way the soft gripper not only benefits from the passive compliance of its soft fingers, but also demonstrates a sensor-guided approach for improved grasp control.