Grasp force control in two-finger grippers with pneumatic actuation

Abstract

An experimental system has been proposed for force control in a two-finger gripper with an easy sensorization by using a commercial force sensor. A suitable model of the control scheme has been designed to control the grasping force. Experimental tests have been carried out at the Laboratory of Robotics and Mechatronics in Cassino and they are reported in the paper to show the practical feasibility of two-finger grippers with force controlled pneumatic actuation.