Begey, Jérémy (Université Laval), Yigit, Arda (LS2N), Gosselin, Clément (Université Laval)

Design, Analysis and Experimental Validation of a Gripper with Active Surface for Enhanced Grasping

Scheduled for presentation during the Regular Session "Robot Hand Control" (WeAT5), Wednesday, July 16, 2025, 11:00−11:20, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper presents a gripper with an active surface for the effective grasping of a variety of objects, including flat objects resting on hard surfaces. A brief review of the literature on the use of active surfaces for grasping is first presented and the context of scooping grasps is recalled to justify the design approach. The architecture of the proposed gripper is then presented in detail, including the description of a prototype. An analysis of the mechanics of grasping for the proposed gripper is then provided in order to formally highlight the benefits of the active surface. Finally, experimental results obtained with a prototype clearly illustrate the effectiveness of the proposed gripper.