Gulnergiz, E.T.Dilibal, S.Gormus, B.Danquah, J.O.Emon, O.F.2024-06-132024-06-132023979835033752510.1109/HORA58378.2023.101567742-s2.0-85165673272https://doi.org/10.1109/HORA58378.2023.10156774https://hdl.handle.net/11501/10195th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023 -- 8 June 2023 through 10 June 2023 -- -- 190025The 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.eninfo:eu-repo/semantics/closedAccessadditive manufacturingremotely operated vehicle (ROV)soft pneumatic grippersoft roboticssoft sensorAdditivesFeedbackGrippersPneumaticsReliability analysisRemote controlRemotely operated vehiclesArchaeological artifactsGripper systemsPneumatic grippersRemotely operated vehicleSoft pneumatic gripperSoft roboticsSoft sensorsTactile feedbackUnderwater objectsVehicle system3D printingConference ObjectN/A