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    Additively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains
    (Institute of Electrical and Electronics Engineers Inc., 2023) Gulnergiz, E.T.; Dilibal, S.; Gormus, B.; Danquah, J.O.; Emon, O.F.
    The use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts. © 2023 IEEE.
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    Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot
    (Institute of Electrical and Electronics Engineers Inc., 2022) Dilibal, S.; Gulnergiz, E.T.; Pagliarani, N.; Donato, E.; Iori, F.; Setti, E.; Falotico, E.
    The demand for Li-ion batteries is growing due to the increasing use of electrical devices. Thus, increasing the automation of their assembly lines is crucial to improve their production. In this work, a pneumatic soft gripper is additively manufactured and integrated in a collaborative robot to accomplish Li-ion batteries grasping and releasing. Due to the material properties, such gripper provides safe interaction and intrinsic adaptability. However, modelling and control of soft grippers are challenging. We opt for a computational FEM model to generate a detailed representation of the interaction, and a proximity sensor is embedded in one of the two soft fingers to close the control loop and detect contacts. Contact forces have been experimentally evaluated, and control parameters have been empirically defined. © 2022 IEEE.