A Flexible Multifunctional Sensor Based on Triboelectric Nanogenerator for Measuring Variable Stiffness of Soft Grippers and Recognizing Item Size

The monitoring of the grasping behavior of variable stiffness grippers has emerged as a challenge due to the increasing use of soft grippers in logistics sorting applications. In this research, a flexible multifunctional sensor is developed by combining a liquid metal microchannel structure with a granular single electrode which detects the bending angle and stiffness of the flexible gripper in real-time. The novel works by integrating triboelectric nanogenerator with particle interference variable stiffness and detects the stiffness of the soft finger. It is found that increasing the loading force on the gripper by a factor of 2.39 does not affect the kinematic characteristics. The size of the grasped object is determined with 96% accuracy by detecting the resistance offered to the stretched liquid metal during the bending of the soft finger. A soft grasping system is built with multifunctional flexible sensors and the real-time signal feedback during the grasp-move-release process of objects of different diameters and weights is demonstrated. Besides providing a theoretical and experimental foundation of variable stiffness and nondestructive grasping of the soft gripper, the anthropomorphism of the soft grasping gripper is implemented by employing a novel sensor.