Robotics and Autonomous Systems 160 (2023) 104303

Contents lists available at ScienceDirect

Robotics and Autonomous Systems

journal homepage: www.elsevier.com/locate/robot

A novel multi objective constraints based industrial gripper design

with optimized stiffness for object grasping
∗
Venkatesa Prabu Dinakaran a , Meenakshi Priya Balasubramaniyan a , Quynh Hoang Le b,c , ,
Ali Jawad Alrubaie d , Ameer Al-khaykan e , Suresh Muthusamy f , Hitesh Panchal g ,
Mustafa Musa Jaber h , Anil Kumar Dixit i , Chander Prakash i
a
Department of Mechatronics Engineering, Kongu Engineering College (Autonomous), Perundurai, Erode, Tamilnadu, India
b
Institute of Research and Development, Duy Tan University, Da Nang, Vietnam
c
School of Medicine and Pharmacy, Duy Tan University, Da Nang, Vietnam
d
Department of Medical Instrumentation Techniques Engineering, Al- Mustaqbal University College, 51001, Hilla, Iraq
e
Department of Air Conditions and Refrigeration Techniques, Al-Mustaqbal University College, Babylon, Iraq
f
Department of Electronics and Communication Engineering, Kongu Engineering College (Autonomous), Perundurai, Erode, Tamil Nadu, India
g
Department of Mechanical Engineering, Government Engineering College, Patan, Gujarat, India
h
Department of Medical Instruments Engineering Techniques, Dijlah University College, Al-Farahidi University, Baghdad 10021, Iraq
i
School of Mechanical Engineering, Lovely Professional University, Phagwara, Punjab, 144411, India

article info a b s t r a c t

Article history: Soft gripper design is a rising area of research due of its great possibilities in automation. One difficult
Available online 29 October 2022 problem in robot design is the ability to grasp a broader variety of items with variable stiffness,
Keywords:
forms, and sizes in a single gripper. An ideal soft robotic gripper design with variable stiffness was
Soft gripper designed in this research as a grasping model. Its distinctiveness is found in the methods utilized for
Robotic manipulator modelling actuators and in the shifting stiffness characteristics of silicon soft gripper. When modelling
Multiple degrees of freedom the actuator in this case, multi-objective functions like gripping displacement and force transmission
Optimization ratio are taken into account, and the actuator functions are controlled by the MDF (multiple degrees of
Variable stiffness freedom). The precise stiffness needed to grasp the item is then chosen using an adaptive optimization
Object grasping method. This enhanced weight-based horse herd (IHH) optimization method carries out the stiffness
adjustment based on actuation pressure. Additionally, the suggested soft robotic gripper with variable
stiffness employs the adaptive level set (ALS) technique to build the gripping force model. Additionally,
several validations are offered in relation to the outcomes for item gripping by the suggested soft
gripper. This shown that the results of the created soft gripper excelled those of other methods. The
developed ABBIRB 1410 robot gripper type may enhance the work cycle in industrial applications and
performs object grabbing with dependability and speed. The experimental validations show that the
developed gripper model provides an enhanced object grasp with a range of curvatures, delivering a
maximum pulling force of 121.07 kPa at 50 kpa, 119.15 kPa for patterned pulling, and 45.05 kPa for
non-patterned pulling. The designed gripper type has a curve with a minimum size of 1.1 mm and a
maximum size of 218 mm. Additionally, the soft gripper for industrial applications is examined with
variously sized and weighted items. The suggested gripper model achieved an RMSE performance of
2.9 and a Pearson correlation of 0.993.
© 2022 Elsevier B.V. All rights reserved.

1. Introduction

Nowadays, biomimetic and intuitive design principles are fre-

∗ Corresponding author.
E-mail addresses: venkatprabu13@gmail.com (V.P. Dinakaran),
b.meenakshipriya@gmail.com (M.P. Balasubramaniyan), qnleh@duytan.edu.vn
(Q.H. Le), ali.jawad@mustaqbal-college.edu.iq (A.J. Alrubaie),
Ameer-al@mustaqbal-college.edu.iq (A. Al-khaykan), infostosuresh@gmail.com
(S. Muthusamy), engineerhitesh2000@gmail.com (H. Panchal),
mustafa.jaber@turath.edu.iq (M.M. Jaber), anil@uttaranchaluniversity.ac.in
(A.K. Dixit), chander.mechengg@gmail.com (C. Prakash).
quently used to create soft grippers [1]. First and foremost,
the designers’ expertise, inspiration, and experience are used to
create the grippers. The gripper is then tweaked using several
optimum ways once the design has been proven via various
studies [2]. An optimization model with design variables, re-
strictions, and an objective function presents the main difficulty
in the design of soft grippers. To successfully grab things, soft

https://doi.org/10.1016/j.robot.2022.104303
0921-8890/© 2022 Elsevier B.V. All rights reserved.
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al.
grippers are used [3–5]. The optimization approach is combined
with the soft grippers for object gripping as a result of increased
technological innovation [6–8]. The Taguchi method, which uses
fuzzy logic to construct an optimized gripper model, tendon-
driven grippers, optimized grippers based on objective functions,
and optimized grippers created using genetic algorithms are some
of the current techniques utilized in soft grippers to increase
performance [9,10]. The modelling of grippers makes extensive
use of soft gripper design. The grippers may be used to suc-
cessfully grab things in a variety of dangerous environments,
such as around explosions, welding equipment, and radioactive
equipment [11,12]. To function as human beings, it is crucial to
build soft grippers. Gripper strength, slip resistance, and versatile
grasping are three metrics that may be used to gauge gripper
grasping ability. The grippers are often made with a high degree
of stiffness. The thing will now be firmly grabbed moving forward.
Soft grippers can also be used in the majority of ambiguous situ-
ations. A gripper made of a SMA (shape memory alloy) can adopt
various positions and successfully grasp several items [13,14].
Generally, the grippers are actuated by the various actuation
approaches. Some of the existing actuation mechanisms are cable
driven actuation, pneumatic actuation, electro active polymer,
and SMA actuation [15]. The changing movement of the actuator
is regulated by the varying strain effects among the inextensible
layers and the soft chambers. Due to the high cost of pneumatic
actuation, it is not suitable for current applications. SMA-based
actuation is most applicable for various applications due to its
benefits like smaller size, reduced noise, and suitable integra-
tion with robots [16,17]. The major issue with the gripper is
stiffness, which is tuned effectively to attain similar stiffness to
a human. As a result, variable stiffness is a viable solution for
improving stiffness in gripper models to improve object grasp-
ing [18]. In grippers, object grasping is performed effectively
through the adapted actuators. The soft grasping in grippers is at-
tained through optimal actuation using different approaches [19].
Modelling and controlling the DF (degree of freedom) of the
soft gripper is an important step to attaining effective object
grasping. Numerous approaches are presented for effective object
grasping [20]. Soft grippers are made up of soft materials to
effectively replace human activities. Most of the grippers are
modelled with a single curvature and predefined stiffness. Us-
ing layer-by-layer photo polymerization, microstereolithography
(MSL) is a technique for creating three-dimensional (3D) com-
ponents. Small features, high resolution, rapid manufacturing,
and big overall component size are typical design objectives for
MSL systems. The design and construction of such a system to
satisfy these optomechatronic requirements is the main focus
of this research. Henceforth, a multiple curvature based model
with variable stiffness is needed to achieve robust grasping. The
ability to grasp is decided based on the force of grasping [21]. The
traditional grippers are mostly made of rigid structures, which
are poor in safety and flexibility. Moreover, existing soft grip-
pers used extreme learning machines and SVM (Support Vector
Machine) schemes. To provide the safe grippers with flexibility,
the researchers have provided soft robotic gripper designs. Unlike
conventional grippers, high precision and flexibility are the major
demands of industrial applications [22]. This can be improved by
using different actuation mechanisms and stiffness variation ap-
proaches. Conventional approaches show that good performance
requires a clear compromise between grasping flexibility and
capacity.
The existing rigid models are providing good capacity, and
soft models are providing flexibility in object grasping. The de-
veloped soft gripper model provides both good object grasping
capacity and flexibility through stiffness mechanisms [23]. How-
ever, effective object grasping with multiple curvatures is needed
2
Robotics and Autonomous Systems 160 (2023) 104303
with improved techniques. Henceforth, innovative approaches
are needed to attain an optimal variation of stiffness for scalable
soft grippers with lean structure. The gripper design needs to be
regulated to handle the objects effectively. Therefore, effective
controlling mechanisms need to be adapted to improve object
grasping. The main objective of the proposed work is to design
a flexible robotic structure. To validate the effectiveness of the
proposed soft gripper, different performance analysis approaches
are used. The major contributions of the proposed model are
described as,
• To develop an optimized object grasp, improved horse herd
optimization is utilized for tuning variable stiffness.
• To increase the ability of object grasping, multiple
curvature-based soft actuators have been developed.
• To provide object-based grasping, soft grippers are tuned
with MDF (multiple degrees of freedom) and varying stiff-
ness.
The rest of the manuscript organization is summarized as: Sec-
tion 2 reviews the current related works, Section 3 explains the
methodology of the proposed work, Section 4 analyses the results
and their corresponding discussions; and Section 5 presents the
research conclusion.
2. Literature review
Daniel Cardin-Catalan et al. [24] introduced a model of a
robotic gripper with varying stiffness. The main aim of designing
a soft gripper is to provide reliable and strong rigid and flexible
grippers. Here, the three finger-based grasps were considered to
grasp the objects. The performance of the developed approach
was tested with five different benchmarks to validate the vari-
able stiffness. The performance of the developed scheme was
compared with that of different existing grippers. However, the
gripper can be improved by minimizing its size. Moreover, the
gripper should be designed to grasp an increasing number of
objects. Savas Dilibal et al. [25] developed a soft gripper with
embedded soft force sensors. Here, a monoblock gripper with
a decreased number of elements was designed. The monoblock
grippers were designed with three different geometric gradient
fingers. The actuation was simulated with FEA (finite element
analysis) utilizing the hyper-elastic substance. Moreover, the soft
sensors in the grippers were generated through the process of
screen printing, which utilizes elastic material. However, the
manufacturing and the gripping processes can be improved to
effectively grasp different objects.
Trung Thien Hoang et al. [26] introduced a soft gripper with
gecko adhesion (GA) and varying stiffness. The developed gripper
was considered with multiple fingers. The improved mechanisms
and integration of gecko GA and variable stiffness can improve
the gripper’s performance. Furthermore, the gripper introduced
a varying stiffness-based actuator for moving grippers. The per-
formance of grippers can be improved further by using different
improved mechanisms. Ji Hyeon Shin et al. [27] developed a
soft gripper with an optimized fin ray finger to grab objects
effectively. These kinds of grippers are utilized in manufacturing
industries to grab workpieces effectively. The parameters of the
gripper were analysed and the geometry was analysed to give
a high gripping force. Here, three approaches were considered
to attain enhanced grip. The performance of the proposed grip-
per needs to be improved by providing variable stiffness and
enhanced actuation.
Michal Bednarek et al. [28] developed a gripper with the
neural network by variable stiffness evaluation. The presented
DL (deep learning) based approach is validated with different
existing approaches. Here, the estimation of the parameters was
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

done with an improved gripper model. The gripper was learned Table 1
with the DL model. This improves the process of grasping the Specification of DH parameters.

object. The learned gripper operates at a regression in stiffness S.No Number of links θ α R D

coefficient to improve the ability of the gripper. Furthermore, the 1. 1 θ1 90◦ 0 L1

performance of the gripper can be improved with enhanced stiff- 2. 2 θ2 0◦ L2 0
3. 3 θ3 0◦ L3 0
ness variation and tuned actuation. Haiyue Zhu et al. [29] devel- 4. 4 θ4 −90◦ 0 0
oped a classification-oriented grasping approach with a variable 5. 5 θ5 0◦ 0 L4
stiffness-based robotic gripper. Here, the convolutional neural
network (CNN) framework was considered to categorize the ob-
ject grasping. Moreover, the force of grasping was decided based
on the classified category. The level of grasping force was deter- in DH frames with different lengths. The arm of the gripper is
designed with five rotational joints that are represented as. In the
mined already based on the type of object. Optimized stiffness
3D workspace, these joints cooperate in order to provide the best
was provided based on the soft grippers, which improves the
possible object gripping. The kinematic analysis is performed by
ability of the grippers. Two modules were considered for effective
the listed DH parameters in Table 1.
classification of grasping the object and its corresponding execu-
In Table 1, represents the rotation of the frame in the axis
tion. However, the regulation of object grasping can be improved
to get axis, which includes rotation based on the joints and
by using further enhanced algorithms.
represents the distance between the centres of the frame to
Honarpardaz, M et al. [30] proposes the Generic Optimized
the frame centre. Similarly, represents the distance between the
Finger Design (GOFD) approach as a development of previously
centre of the frame along the axis. Based on the DH variables, the
created techniques to take into account multi-function finger de-
transformation matrix of links is denoted in subsequent Eqs. (1)
sign and get over the constraints of the GAFD method. The GOFD
to (7).
approach enhances the design of fingers by adding a mathemat-
cos θ1 sin θ1
⎡
0 0
⎤
ical optimization procedure, hence minimizing design time and
increasing finger dependability at the same time. The suggested ⎢ sin θ1 0 cos θ1 0⎥
approach is used for a variety of actual industrial pick-and-place h01 = ⎢ ⎥ (1)
⎣ 0 1 0 L1 ⎦
and assembly applications. The functionality and stability of the 0 0 0 1
multi-function fingers created by GOFD are subsequently empir-
cos θ2 − sin θ2 L2 cos θ2
⎡
0
⎤
ically confirmed in practical settings. The GOFD approach further
incorporates extra features and libraries, such as automated grip- ⎢ sin θ2 cos θ2 0 L2 cos θ1 ⎥
h12 = ⎢ ⎥ (2)
per selection, stable posture selection, material databases, and ⎣ 0 0 1 0 ⎦
gripper databases. 0 0 0 1
Devi, M. A et al. [31] as long as the asymmetric actuators
are given with a specific level of eccentricity, the AFPAs or ABF- cos θ3 − sin θ3 L3 cos θ3
⎡
0
⎤
PAs exhibit superior deflection. To attain flexibility or dexterity ⎢ sin θ3 cos θ3 0 L3 cos θ3 ⎥
equivalent to the human hand, a completely different method is h23 = ⎢ ⎥ (3)
⎣ 0 0 1 0 ⎦
thought to be necessary. It has been investigated how a bellow ac-
tuator made of asymmetric nitrile rubber (Acrylonitrile-Butadiene 0 0 0 1
rubber) can construct a robotic hand. It has not been researched
cos θ4 sin θ4
⎡
0 0
⎤
if ABFPA can be used to fabricate an innovative, under actuated,
multi-fingered robotic hand. The prosthetic hand is sometimes re- ⎢ sin θ4 0 − cos θ4 0⎥
ferred to as the Amrita Hand. The ABFPA’s finite element analysis h34 = ⎢ ⎥ (4)
⎣ 0 1 0 0⎦
was performed using the Abaqus 6.13 software, and the results
0 0 0 1
are shown together with the impact of various parameters on the
bending of the actuators.
cos θ5 − sin θ5
⎡
0 0
⎤
According to the analysis of different existing works, the stiff-
⎢ sin θ5 cos θ5 0 0⎥
ness adjustment according to the grasping force to grasp the h45 = ⎢ ⎥ (5)
objects is not done effectively. But, the stiffness variation needed ⎣ 0 0 1 L4 ⎦
to grasp the objects is an important one. Henceforth, an improved 0 0 0 1
scheme is needed to provide optimal object grasping. The devel-
Then, the forward kinematic is attained through the multiplica-
oped soft gripper is modelled with optimized stiffness patterns
tion of the abovementioned transformation matrices. The forward
and improved multi-objective based object grasping.
kinematic representation is described in the subsequent Eq. (6).
3. Kinematic modelling hbase 4 0 1 2 3 4
end = h5 = h1 × h2 × h3 × h4 × h5 (6)
The transformation matrix reference is expressed in Eq. (7),
Effective kinematic modelling and the establishment of coordi-
ky ly my ny
⎡ ⎤
nates are the important things to achieve harmonization between
the robotic gripper and the controller. Afterwards, DH (Denavit
⎢ky ly my ny ⎥
⎢ ⎥
Hartenberg) was processed, where separate matrices are utilized h05 =⎢ ⎥ (7)
on individual pairs. An individual pair of kinematics is utilized ⎢k
⎣ y ly my ny ⎦
⎥
to transform the coordinates. The kinematic chain of the gripper
is comprised of links, joints, and orientations. The mathematical 0 0 0 1
representation of the problem for finding the spatial position The kinematic modelling based on these equations attains
depends on the solution of the kinematics issue, to detect the better harmonization between the gripper and the control. This
coordinates of the endpoint of the robotic gripper at orientation controls the performance of object grasping by the robots in
angles and link length. The initial variables for resolving the kine- different industrial applications. The linkage parameters are given
matics are the Euler angle. Consider four links of the manipulator in Table 2.
3
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Table 2
Linkage parameters.
Number of connections (N) αl βl Kl εl Variable range Maximum speed at rated load Minimum speed at rated load
1 α1 −180◦ −1 ε1 −180◦ to 180◦ 155◦ /ms 12◦ /ms
2 α2 30◦ −0.5 ε2 −150◦ to 30◦ 153◦ /ms 14◦ /ms
3 α3 −60◦ 0 ε3 −130◦ to 150◦ 151◦ /ms 12◦ /ms
4 α4 60◦ 0 ε4 −340◦ to 340◦ 336◦ /ms 38◦ /ms
5 α5 −30◦ 0.5 ε5 −120◦ to 120◦ 333◦ /ms 36◦ /ms
6 α6 180◦ 1 ε6 −340◦ to 340◦ 615◦ /ms 10◦ /ms

The robotic joints are performing normally during the stable

movements, and there is no misalignment among the connection
rods. These parameters show that the connecting rod and the
solution of positive kinematics are precise. Based on these linkage
parameters, industrial robots are designed.

4. Proposed methodology

This research presented an optimal object grasp using the

hybrid optimization approach for stiffness variation with multiple
curvatures. At first, the initial parameters are provided for the soft
grippers. The stiffness adjust unit for variable stiffness and the
actuation unit for multi-curvature make up the two main func-
tional components of the soft gripper. As previously noted, the
gripper finger includes three groups of eleven inflating chambers
each. Additionally, every group has its own separate connection
to a source of air pressure via an air supply panel. Silicon is
used to make the majority of the work’s flexible soft sections
(Dragon Skin 30 and Ecoflex 00–30). Molds made via 3D printing
and filled with dragon skin must remain in a warm environment
to cure. The same technique used for the inflating chambers is
used to create the air supply panel. After curing, silicone glue
is used to join the chamber and panel (Sil-Poxy). The stiffness
patterns of the grippers are regulated by the improved weight-
based horse herd optimization. Moreover, the soft actuators are
tuned with multiple degrees of freedom. The object grasping force Fig. 1. Schematic diagram of proposed gripper model functioning.
based on the grasping force is determined by the mathematical
models. The schematic diagram of the gripper model functioning
is depicted in Fig. 1.
4.1.2. Gripping force
4.1. Soft gripper design with multi-objective functions In this objective function, maximum and minimum values
of the gripping force are considered. The main motivation for
The size of objects is determined based on the positioning of using this objective function is to ensure the grip level on the
the gripper fingers. The gripper fingers are positioned at partic- objects. According to the objects, the grip level should be varied
ular angles to grasp the objects effectively. Consider the angle to effectively grab the objects. The reduction of the difference
between the fingers and the base, as well as the distance between between maximum and minimum gripping force values tends to
the gripper and the objects at a minimum (r) to maximum radium reduce the fluctuation in gripping force. It is expressed in the
(R). Then the grasping object radius is expressed as, subsequent condition (10),
/
()
d′ 2
f1 (z) = Max Fm (z , y) − Min Fm (z , y) (10)
r = (8) y y
tan (θ/2)
The radius of the gripper for grasping an object is determined 4.1.3. Force transmission ratio
by the length of the robotic finger (l) and angle (θ ). Then, the Gripping force according to the given actuator force. If the
maximum radius for object grasping is expressed as, minimum value of the gripping force is higher, then the gripper
/ + (l − l1 − l2/2)
( )
R= d′ 2 (9) will be effective for object grasping. Henceforth, the transmission
ratio is computed as an objective function. It is the ratio among
Here, l signifies the finger length and signifies the joint length.
given actuating force (GP ) and the minimum resulting gripping
The actuation of the gripper with variable stiffness can be
force. It is expressed in subsequent conditions (11),
achieved by the pneumatic design. The model of the soft actuator
and stiffness variations regulated by the functions are described AP
f1 (z) = (11)
in subsequent subsections as shown in Fig. 2. Min Fm (z , y)
y

4.1.1. Multi-objective functions used in actuators Here, AP represents the force of actuation. This actuation force
According to the analysis of geometric constraints, two objec- changes as per the displacement of the actuator. It is expressed
tive functions are considered for tuning the actuators. The objec-
in subsequent conditions (12),
tive functions are utilized for regulating the actuators. Actuators
AP (z , y)
( )
change the grasping force into the movements that grasp the
f2 (z) = Max (12)
objects effectively. They are described in subsequent subsections. y Fm (z , y)
4
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al.
Fig. 2. Soft gripper module with end-effectors holder.
The gripping force increases with the increased minimum
value of gripping force. In the first objective function, a lower
value of gripping force is needed to decrease the difference be-
tween the maximum and minimum gripping force. Similarly, in
the second objective function, a higher gripping force value for
the applied actuation force value decreases the force transmission
ratio.
4.2. Multi curvature modelling using improved MDF for perfect
grasping
The objective of the current research is to produce a Multi-
curvature variable stiffness soft gripper that can alter its stiffness
and bending curvature in sensitivity to the need for a new grip-
per design that can adapt to diverse item shapes and weights.
Its enables the novel soft gripper to have wider DOF and en-
hanced dexterity by partitioning a pneumatic actuation chamber
for forming pseudo-independent joints and combining them with
a particle jamming-based variable stiffness mechanism. Addition-
ally, the particle jamming is more stable even for applications
requiring a curved finger shape thanks to a newly constructed
segmented-core-frame. A novel soft gripper could securely hold
items of all different sizes, shapes, and weights. The actuators
are capable of bending the joints easily through a tuned MDF.
The change of MDF can be achieved by the adaptable soft ac-
tuator to provide optimal stiffness variation. The major aim of
designing a soft actuator is to provide a number of curvatures
which can grasp different sized objects. Actuators convert the
force into movements to grasp the objects. Consider an angle
between the base and the gripper finger is represented as θ ,
distance is represented as d′ . The multi-curvature-based gripper
can grasp objects of varying sizes, from smaller to larger. The
minimum-sized object grasped is represented as,
/
d′ 2
Rmin =
tan (θ/2)
The size of the objects grasped is limited not only by the length
of the gripper and the angle. Moreover, object grasping size can
Robotics and Autonomous Systems 160 (2023) 104303
be maximized by increasing the radius of the finger, and it is
expressed in subsequent subsections.
( )
lb
Rmax = d /2 + cos θ
′
l − la − (14)
2
Here, l represents the finger length, and lb represents the joint
length. In soft grippers, stiffness parameters are regulated by
the optimization approach. The stiffness regulation algorithm in
designed robots controls the friction between the constraint base
and rods. The operation of grasping is executed by adjusting the
stiffness patterns. Robotic grasping is the function of grasping the
target objects effectively. Effective stiffness is modelled using the
improved horse herd optimization approach.
4.3. Model of variable stiffness actuators
The actuators create the movements based on the grasping
force. The dynamics of variable stiffness actuators are expressed
in subsequent Eq. (15),
Gp + b = γ
⎧ ′′
⎪
⎨
Gθ θ ′′ = v − γ (15)
⎪
γ = γ (θ − p, σ )
⎩
Here, G represents the GI (generalized inertia) matrix of the
scheme, b represents the GI, dissipative, and gravitational force
vectors, θ represents the internal variables of actuators, Gθ rep-
resents the inertia matrix, γ represents the torque of internal
motors, and represents the vector of elastic element variables.
The torque function is an important one for the nonlinearity of
the model. Stiffness variation in the actuator is tuned effectively
using an optimization approach. Grippers are designed with soft
(13) actuators and stiffness variables. These are regulated by the op-
timization algorithms and they are expressed in a subsequent
section. Here, a horse herd optimization scheme is introduced to
regulate the grippers.
5
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

4.4. Stiffness regulation using improved weight-based horse herd

optimization

Stiffness determines the structure’s ability to resist deforma-

tion due to outside forces. The importance of using hose herd
optimization is in updating the perfect stiffness patterns ac-
cording to the grasping force. The hierarchical organization of
optimization is followed for optimization. Horse A is more dom-
inant than horse B, and horse B is more dominant than horse C.
Similarly, the hierarchical order is followed for stiffness optimiza-
tion. It is expressed in subsequent subsections. The number of
horses and respective functions for different stiffness patterns are
expressed in subsequent conditions (16),

S = {s1 , s2 , s3 .....sk } (16)

Here, S represents the stiffness patterns and the fitness of stiff-
ness patterns are executed in the following Eq. (17).
If a function F (su ) < F (sv ), where u ̸ = v and u, v ∈
{1, 2, 3, . . . .k}, then
H (su ) > H (sv ) (17)
If a function F (su ) < F (sv ), where u ̸ = v and u, v ∈
{1, 2, 3, . . . .k}, then
(H (su ) − H (sv )) (u − v) > 0 (18)
Consequently, the prioritization of stiffness patterns relative to
grasping force is computed in the manner expressed in condition Fig. 3. Flow diagram of stiffness pattern optimization using IHH optimization.
(18),
H (su )
Porder (su ) = (19)
K
Here, ρd represents the normal distribution, and σd represents
Here, Porder (su ) represents the stiffness patterns in prioritized
the standard deviation. Consequently, the finest stiffness posi-
orders. Furthermore, the weighted mean of each position of the
tions are attained at maximum iteration t + 1. Thus, the optimal
patterns is computed, and the computed position is updated as
stiffness patterns are attained through the optimization scheme
the centre of stiffness patterns. The centre computation of each
and updated in the soft gripper. The flow diagram for stiffness
pattern is expressed in the subsequent condition (19), pattern optimization is depicted in Fig. 3.
∑K
u=1 zu gu,order
SC = ∑K (20) 4.5. Adaptive level set approach for grasping force analysis
u=1 gu,order

Here, SC represents the centre of stiffness patterns. Subse- The grasping force of the grippers is computed by the ALS
(adaptive level set) approach. A different sequence of processes is
quently, the distance among the position of the stiffness pat-
considered to model the grasping force of the grippers. The grasp-
tern and the centre stiffness pattern is expressed in subsequent
ing force is united with the stiffness and accurately determined
conditions (20),
by the AC approach. Consider a parameter that σd denotes the
linear rate of change of gripper position in respect of σd in local

 K
point p. At first, the gripper finger model is formulated and initial
∑
D(Sk , SC ) = √ (Sk − SC ) (21)
conditions are provided. The grasping force is determined by the
v=1
adaptive level set scheme and the driving torque is increased as
Here, D represents the computed distance among the positions 0.01 N and 1 N mm correspondingly from initial zero values. The
of particular stiffness patterns to the stiffness centre position. position of the gripper’s finger tip is computed. The actuator with
Then the updated velocity for the particular grasping stiffness is different movement types is attained by softening various parts
expressed in subsequent condition (21), of the grippers. In this section, a mathematical model describes
the actuator kinematics under different movement patterns. The
Vut,v
+1
= Vut,v + Su,order × Wa × SCt ,v − zut ,v
( )
(22) section curvature is attained by translating the coordinates Y0 − Z0
Here, Wa represents the updated weight function. It is con- to a distance D′ and rotating the angle −2θ to Y2 − Z2 . Henceforth,
the transformation matrix from Y0 − Z0 to Y2 − Z2 is expressed as,
sidered instead of using arbitrary numbers among 0 to 1, t to
signify the current iteration, and t + 1 denotes the new itera-
cos 2θ sin 2θ D′ sin θ
⎡
0
⎤
tion. The computation of the weight function Wa is expressed in
subsequent conditions (22), ⎢− sin 2θ cos 2θ 0 D sin θ ⎥
′
B=⎢ ⎥ (25)
(
t
) ⎣ 0 0 1 0 ⎦
Wa = exp (23) 0 0 0 1
tmax − 1
Based on the geometric relations, the distance parameter is
Here, tmax represents the maximum iteration. The updated
expressed as,
stiffness patterns are expressed in subsequent conditions (23),
k sin θ
D′ =
,v × ρd (0, σd )
Sbest = zut + 1 (26)
(24)
θ
6
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Fig. 4. ABB IRB 1410 soft gripper robot manipulator.

mk
θ= (27) Table 3
2 Parameter specification.
Here, k represents the actuator length, and m represents the count S.No Parameters Value
of curvatures. Then the Eqs. (26) and (27) are updated in Eq. (28). 1. Robot type IRB 1410
2. Handle capacity 225 kg
1 − cos mk 3. Range/Maximum payload 1.45 m/5 kg
⎡ ⎤
cos mk sin mk 0 4. Robot movements Arm, turn, bend motion
⎢ m ⎥ 5. Power supply 220 V AC
sin mk
⎢ ⎥
6. Robot base 620 × 450 mm
− sin mk cos mk 0
⎢ ⎥
B=⎢
⎢ 2
⎥
⎥ (28) 7. Communication USB + Wi-fi
⎢ ⎥ 8. Interface/Programming Linux (ROS)-Inbuilt processor
⎣ 0 0 1 0 ⎦ 9. Power consumption 120 W
0 0 0 1 10. Ports 4 USB + 1HDMI

If the gripper is in the solid state, then the transformation

matrix is expressed as,
⎡ gripping performance of the developed soft gripper is analysed
1 0 0 0
⎤
using different validations. The structural model of the developed
⎢0 1 0 k⎥ soft gripper is depicted in Fig. 4.
B=⎢
⎣0
⎥ (29)
0 1 0⎦ In Fig. 5, the ABB IRB 1410 soft robotic gripper model is
0 0 0 1 illustrated. The developed gripper model is specially designed for
industrial applications. The developed gripper in Fig. 6 can grasp
When, θ → 0, m → 0 and different sized objects with perfect grasping stiffness. According
to the techniques used in the proposed gripper design, based
⎡
1 0 0 0
⎤
⎢0 1 0 k⎥ on the size of objects, the curvature is tuned and the stiffness
Lim B = ⎢
⎣0
⎥ (30) is regulated based on the grasping force. The optimized weight
m→0 0 1 0⎦
patterns and tuned MDF enhance the ability of the developed
0 0 0 1 gripper to object grab. Then, different views of the proposed ABB
Based on these mathematical equations, the profile of the ac- IRB 1410 gripper model are depicted in Fig. 7.
tuator with curvature is attained for every bending degree of The weight and repeatable position accuracy of the IRB 1410
freedom. Moreover, the movement is validated by fixing the ac- robot manipulator are 225 kg and 0.05 mm, respectively (average
tuator at the base position and varying according to the grasping result from International Organization for Standardization test).
force. Thus, the proposed model provides an optimal object grasp The robot moves at an average speed of 2.1 m/s depending on TCP
with variable stiffness patterns. velocity. The robot has a reach of 1.44 m and a payload handling
capability of 5 kg. It operates on a voltage supply of 200–600 V at
5. Results and discussion 50 or 60 Hz, and its power rating is 4 kVA/7.8 kVA with external
axes. The robot can move at a speed of up to 7000 mm/s when the
In this section, the performance of the developed soft gripper movements are being programmed for pathways and targets, and
in object grasping is analysed. The ABB IRB 1410 industrial robot it can move at an arbitrary pace when in full automated mode of
is designed with different parameter specifications. The parame- workspace diagram. The manipulator’s D-H table is displayed in
ter specifications used to design the robotic gripper are given in Tables 1 and 2 also industrial robot manipulator are depicted in
Table 3. Fig. 8.
The designed ABB IRB 1410 model is capable to grasping In Fig. 9, different views of the proposed gripper model are
objects effectively and can be used in industrial applications. provided. The developed model can be used for different indus-
Moreover, it is used to provide reliable and fast work cycles in trial applications. In Fig. 10, the grasping performance of the
industries. Different performance metrics are considered to vali- gripper model is enhanced with different existing approaches.
date the performance of the proposed soft gripper. Moreover, the The proposed gripper is capable of grasping different
7
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Fig. 5. Six axes industrial robot with image processing techniques.

Fig. 6. Two finger soft gripper module with pneumatic pressure source.

Fig. 7. ABB IRB 1410 industrial robot control unit.

8
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Fig. 8. ABB IRB 1410 robot axes, motion, orientations and dimensions.

Fig. 9. Picking and placing of vegetables using a soft gripper.

sized objects. In Fig. 11, the stiffness and grasping performance
are tuned by the adaptive approaches. The parameter specifi-
cations used in the developed soft gripper are mentioned in
Table 3.
The generated gripper model’s various parameter specifica-
tions are shown in Table 3. The suggested gripper is well-
designed. Furthermore, the most effective techniques are believed
to operate the gripper successfully. The created gripper model
may be utilized to successfully grasping things in a variety of
industrial applications.
9
5.1. Performance validation
In this section, the performance of the proposed approach is
validated with respect to different existing approaches in terms of
different performance metrics. The proposed soft gripper, named
the ABB IRB 1410 industrial robot, is designed with optimized
stiffness variations and actuation functions for optimal object
grasping. The performance of the developed gripper in the case
of object grasping is validated with different performance met-
rics and compared with different existing approaches. Then, the
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al.
Fig. 10. (a)-(e) Modified two soft gripper for hollow shaped material handling.
Fig. 11. (a) Soft Gripper ideal mode, (b) gripper displacement, (c) right finger pressurized, (d) square shaped material grasped by single soft finger input, (e) left
finger pressurized, (f) cylinder shaped material grasped by single soft finger input.
objects’ grasping validations with different sized objects are pro-
vided in Table 4.
In Table 4, efficiency of various object grasping in different
weight and sizes by the developed by soft gripper is analysed.
Here, the efficiency of the proposed gripper model is validated
with the attempts of object grasping. This validation is used
to examine the capability of developed soft gripper in different
sized objects. Moreover, the analysis proved that the proposed
gripper model attains the optimal object grasping with good
efficiency. Thus, the performance of the developed soft gripper
is enhanced than the different existing soft grippers. Then, the
10
Robotics and Autonomous Systems 160 (2023) 104303
statistical parameters of developed gripper design are given in
Table 5.
In Table 5, statistical parameters such as mean, standard de-
viation, maximum and minimum value is analysed. The con-
straints are selected to improve the performance of the gripper
model. The experimental analysis of object grasping is provided
in Table 6.
Fig. 12 illustrates the RMSE comparison with the different ex-
isting schemes used in existing gripper models. Here, the perfor-
mance of the developed gripper model is compared with existing
ANN, ELM, fuzzy, SVR-polynomial, fuzzy scheme, SVR-radial, and
ANFIS schemes [32], which proved that the developed gripper
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Table 4
Efficiency analysis of object grasping by developed soft gripper.
S.No Objects Weight (g) Size (mm) Successful attempts Total attempts Efficiency (%)
1. Skin pealed onion 175.7 203 16 20 80
2. Green capsicum 142.7 209 17 20 85
3. Tomato 133.0 180 18 20 90
4. Potato 130.1 206 20 20 100
5. Onion 155.7 196 19 20 95
6. Box 140 120 19 20 95
7. Orange 95 320 18 20 90
8. Toy 85 25 19 20 95
9. Can 75 45 18 20 90
10. Tissue 72 95 20 20 100
11. Bottle 55 500 16 20 80
12. Cube 54 90 18 20 90

Table 5
The statistical parameters of experimental validation for gripper design.
S.No Input constraints Mean value Standard deviation Minimum value Maximum value
1. Input displacement (mm) 19.543 17.945 45 0
2. Voltage change 1.845 0.055 2.04674 1.897

Fig. 12. Comparison of RMSE metric.

Fig. 13. Comparison of Pearson correlation.

model attains a higher performance than the compared schemes. In Fig. 13, the performance of the developed soft gripper
Subsequently, the comparison on PC is depicted in Fig. 13. is validated with the Pearson correlation coefficient. Here, the
11
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al.
Fig. 14. Analysis of grasping force-based displacement.
Fig. 15. Force validation to pressure.
method used in the proposed gripper model attains a higher PC
(0.993) value than the compared existing ANN, ELM, fuzzy, SVR-
polynomial, fuzzy scheme, SVR-radial, and ANFIS approaches [32].
The developed gripper model outperforms the existing schemes
in terms of PC. Furthermore, the results of grasping force based
displacement for varying stiffness from lower to higher are de-
picted in Fig. 14.
In Fig. 14, the grasping force is analysed for varying stiffness
values. This proved the effectiveness of the developed gripper
model. The higher result value proved the effectiveness of the de-
veloped gripper model with enhanced approaches. Furthermore,
the force variations are depicted in Fig. 15.
Fig. 15 illustrates the variation of forces with respect to the
pressure. Here, the force values are provided for varying pressure
values. The determination of the pressure level is important to
grasp the objects effectively. Then, the analysis of output stiff-
ness and load capacity for varying pressure levels is depicted in
Fig. 16.
12
Robotics and Autonomous Systems 160 (2023) 104303
In Table 7, a variation of sizes from minimum to maximum to
grasp the objects is provided. The proposed soft gripper provides
more flexibility by varying sizes from minimum to maximum. The
maximum pressure for soft gripper is 1.2 bar equals to 17.404 psi
to grasping object size is improved from maximum to minimum
to grasp the objects effectively, compared to the compared ex-
isting gripper designs like CF, SB, MS, SPD, and pre-stressed soft
grippers [33]. The performance of different mechanisms used in
soft grippers is analysed in terms of RMSE (Root Mean Squared
Error) and PC (Pearson Correlation) measures [34]. The compar-
ison of the RMSE metric force validation to pressure is depicted
in Fig. 15.
In Table 6, the validation of object grasping for varying objects
is analysed. Here, object grasping is performed by varying posi-
tions of grasping. The analysis is based on the determined actua-
tion pressure for the gripper model [35]. The analysis of stiffness
variation for gripper bending input displacement is depicted in
Fig. 16.
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al. Robotics and Autonomous Systems 160 (2023) 104303

Fig. 16. Validation of primary stiffness for varying pressure.

Table 6 minimum size of the curvature in the developed gripper model

Experimental analysis of object grasping. is 1.1 mm and the maximum size of the curvature is 218 mm.
S.No Orientation Patterned Non-patterned Non-patterned Moreover, the designed ABB IRB 1410 gripper is analysed with
(35 kPa) (35 kPa) (50 kPa)
different sized and weighted objects for industrial applications.
1. Position 1 0 0 47.65 The attained performance of the proposed gripper model in RMSE
2. Position 2 13.67 35.26 97.15
3. Position 3 92.89 133.65 203.76
is 2.9, and the Pearson correlation is 0.993. Additionally, pneu-
4. Position 4 67.84 107.70 125.54 matically powered systems are recommended for health and
5. Pulling force 119.15 45.05 121.07 safety reasons. In this work, (1) We introduced a multi-curvature,
pneumatically powered soft gripper for handling food goods that
combines high grasping and friction principles. Damage to food
Table 7
Comparison analysis of gripper size variations. goods during handling activities can be reduced since the whole
S.No Different grippers Min size Max size
gripper was built using soft materials. These are the primary con-
(mm) (mm) tributions of this work: (2) A soft finger design that incorporates
1. Chambered finger (CF) based soft gripper 24 100 a positive and negative pressure of bending actuator and contains
2. Soft bionic (SB) gripper 2 170 an efficient arrangement of air channels was supplied; (3) a novel
3. Multi-sensor (MS) based soft gripper 1.7 200 multi-curvature, pneumatically driven soft gripper for gripping
4. Soft pneumatic dexterous (SPD) gripper 10 100 and high grabbing of food goods was presented; (3) Experimental
5. Pre-stressed soft gripper 24 100
tests of lifting forces at various opening distances, along with
6. Proposed ABB IRB 1410 soft gripper 1.1 218
grasping and dwelling tests on various weighted targets, were
used to quantitatively validate the gripper’s capabilities. (4) Real-
time experiments of robotic soft gripper pick and place operation
In Fig. 16, primary stiffness output for varying pressure values were tested with various vegetable sizes and shapes to highlight
and load capacity are depicted. The perfect stiffness based on the benefits of the multi-curvature finger module.
grasping force determines the ability of an object to grasp. This In future, the validations of object grasping with different sizes
analysis shows the output capacity of load for varying stiffness. of objects are analysed and the stiffness parameters are validated
Thus, the performance of the developed soft gripper is enhanced for varying grasping forces. The developed scheme provides good
compared to the different existing soft grippers. grasping performance to grasp the objects effectively. The soft
gripper model can be designed for various applications with
6. Conclusion enhanced mechanisms and optimization approaches. Researchers
studying soft grippers who are interested in creating soft grip-
This research presented an optimal soft gripper for effective pers with changeable grip size and mode may find this work to
object grasping with variable stiffness and multiple degrees of be a valuable resource. In the upcoming investigation, we will
freedom. The performance of the developed gripper is examined run simulations based on finite element modelling to examine
with different validations and compared with different existing how the soft finger deforms. Then, in order to better analyse
approaches. The experimental validations indicate that the de- the soft gripper’s work area, we will create a kinematic model
signed gripper model offers an improved object grab with various for it. We also intend to investigate the soft gripper’s payload
curvatures of 119.15 pulling force of patterned at 35 kPa, 45.05 capabilities before optimizing the soft finger to boost the soft
pulling force of non-patterned at 35 kPa, and 121.07 maximum gripper’s payload. Finally, flexible sensors will be included into
pulling force at 50 kPa. The developed gripper grasping function the soft finger to enable control of the soft gripper. To increase
is improved by varying optimized stiffness patterns. Multiple the multi-material printing process’s stability to support more
objective functions are enhancing the process of object grasping. complicated geometries Work should also be done to more ac-
Moreover, the developed gripper model can be used in various curately evaluate the fatigue life of actuators made using this
industrial applications. The performance is validated with differ- technology. The gripper will be mounted to a specially designed
ent sized objects and varying curvatures to grasp the objects. The mobile robot chassis that combines simultaneous localization
13
V.P. Dinakaran, M.P. Balasubramaniyan, Q.H. Le et al.
and mapping with innovative image processing to autonomously
gather blackberries.
Declaration of competing interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.
Data availability
Data will be made available on request.
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