Development of a Soft Robotic Gripper Using Pneumatic Networks with Integrated Force Feedback for Delicate Manipulation of Irregular Biological Specimens in Aquatic Research Missions

Abstract

Soft robotics has emerged as a transformative approach in marine biology and aquatic research, offering gentle and adaptive manipulation of delicate biological specimens. This paper presents the development of a soft robotic gripper based on pneumatic networks (PneuNets) with integrated force feedback systems designed specifically for the underwater environment. The innovation allows for precise, non-invasive handling of irregular and fragile marine organisms such as corals, sponges, and soft-bodied invertebrates. We describe the design process, fabrication techniques, force sensing integration, and testing outcomes. Our results demonstrate the gripper’s effectiveness in underwater missions, promoting safer, more ethical specimen collection and study.