ArticleMicromachines2026
Size Estimation of Grasped Objects Using a Soft Pneumatic Gripper Integrated with a Piezoresistive CNT/PDMS Sensor.
Article in Micromachines, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Soft pneumatic grippers are well-suited for grasping irregular objects owing to their inherent compliance and ability to adapt to a wide range of shapes and sizes. However, their ability to quantitatively estimate object size during the grasping process remains limited. To address this limitation, this study proposes a soft pneumatic gripper integrated with a piezoresistive CNT/PDMS composite sensor and investigates the feasibility of object size estimation using only sensor signals. The pressure-sensing characteristics of the CNT/PDMS sensor were evaluated over a pressure range of 0-500 kPa, and the 1 wt% CNT/PDMS sensor exhibited the highest sensitivity of approximately 0.016 kPa
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