ArticleSensors (Basel, Switzerland)2022
Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping.
Article in Sensors (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed, 23 citations in OpenAlex.
- Finite Element Analysis of Fiber-Reinforced Pneumatic Soft Actuators: A Hybrid Analytical-Numerical Framework.Materials (Basel, Switzerland) · 2026Article
- Piecewise Parameter Optimization of the Neo-Hookean Model for Hyperelastic Silicone Rubber with Large Deformation.Materials (Basel, Switzerland) · 2026Article
- Size Estimation of Grasped Objects Using a Soft Pneumatic Gripper Integrated with a Piezoresistive CNT/PDMS Sensor.Micromachines · 2026Article
- End-Effector Technologies for Fruit Harvesting Robots: A Review of Structures, Actuation, and Field Deployability.Sensors (Basel, Switzerland) · 2026Review
- Omnidirectional soft pneumatic actuators: a design and optimization framework.Frontiers in robotics and AI · 2024Article
- Image Restoration via Low-Illumination to Normal-Illumination Networks Based on Retinex Theory.Sensors (Basel, Switzerland) · 2023Article
- Perceptual Soft End-Effectors for Future Unmanned Agriculture.Sensors (Basel, Switzerland) · 2023Review
- A Two-Stage Network for Zero-Shot Low-Illumination Image Restoration.Sensors (Basel, Switzerland) · 2023Article
- A Novel Wearable Soft Glove for Hand Rehabilitation and Assistive Grasping.Sensors (Basel, Switzerland) · 2022Article
Corrections and comments
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Authors and funding
7 authors at 4 institutions in 2 countries.
Funding
Abstract
With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0-60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.