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Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of soft polymers leads to stress relaxation and a continuous decay of grasping force during holding. Inspired by human grasping, which combines phase-dependent stiffness regulation with continuous sensing and feedback, this paper presents an integrated structure--perception--learning framework. We develop a variable-stiffness soft gripper that uses onboard vision and infrared thermography to track deformation and the tempe

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-08-27T05:19:02.000Z

First collected: 2026-09-21T08:51:59.673Z. This is not the publication date.