Disclosed is a gripper (1) for beverage cans (20). The gripper (1) comprises at least one gripping device (6) used to grip a particular beverage can (20) from underneath the top seam (5) in a form-fitting manner in the region of a top seam (5), which top seam (5) is formed by a particular beverage can (20). The gripper (1) comprises at least one centering device (30), by which at least one centering device (30) aligns the particular beverage can (20) into a defined alignment, where the at least one gripping device (6) is able to grip a particular beverage can (20) from underneath in a form-fitting manner in the region of its top seam (5).

A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

The invention discloses a robot network structure suitable for an unstructured environment and a sensing system. The robot network structure is a basic unit or superposition of multiple basic units. An upper structure of the basic unit comprises at least two first nodes, and a lower structure comprises at least two second nodes which are not coplanar with the at least two first nodes. All the first nodes and all the second nodes form a three-dimensional network structure through connecting rods. According to the invention, when a lateral acting force from the external environment is received, the connecting rod of the three-dimensional network structure undergoes concave deformation in a space to adapt to a geometric structure of the external environment, thereby enabling a robot to realize physical interaction in the unstructured environment; and on top of this, a hollow structure of the connecting rod may be directly used as an optical path or a single or multiple optical fiber loops may be embedded therein, and the physical deformation of the connecting rod is detected by measuring the change of light flux, so that the robot may realize the physical perception of the unstructured environment during interaction.

A method of automatically orienting symmetric and asymmetric food items, such as apples for example, is provided. Individual items of food are manipulated by a programmable manipulator within the view of one or more depth imaging cameras. Digital three dimensional characterizations of the surface of the food items are generated by the depth imaging camera or cameras and are utilized by a computer connected to the depth imaging camera or cameras to locate the stem and blossom of each food item. Asymmetric food items, such as apples with dropped shoulders as well as symmetric food items can be properly oriented and processed automatically.

A bioinspired suction device includes a radially symmetrical suction chamber formed from a first elastomer and having a skirt portion with a skirt diameter and a disc margin formed from a flexible flattened ring adhered to a lower surface of the skirt portion. The disc margin is formed from a second elastomer and has a disc diameter that extends beyond the skirt diameter. The second elastomer is a compliant material having a lower hardness and lower tensile strength than the first elastomer. Radial pads may extend from the disc margin, where each pad has elastomeric texture features formed on a pad contact surface.

A system for harvesting berries comprising a tendon-driven gripper having fingers made of a compliant material.

A system for harvesting berries comprising a tendon-driven gripper having fingers made of a compliant material.

A soft gripper apparatus is provided. In another aspect, a soft gripper includes tribo-skin pressure sensors, an internal bending sensor, at least one flexible gripping finger and an actuator. A further aspect of a soft gripper apparatus employs longitudinally elongated, laterally spaced apart and self-powering, electrically conductive strips that sense and send a bending signal to a programmable controller indicative of a bending angle of a gripping finger within which the strips are encapsulated. Another aspect of a gripping apparatus includes at least one workpiece pressure sensor and/or at least one bending sensor, which are connected to a programmable controller and electrical circuit to automatically determine a characteristic of the workpiece.

A soft gripper apparatus is provided. In another aspect, a soft gripper includes tribo-skin pressure sensors, an internal bending sensor, at least one flexible gripping finger and an actuator. A further aspect of a soft gripper apparatus employs longitudinally elongated, laterally spaced apart and self-powering, electrically conductive strips that sense and send a bending signal to a programmable controller indicative of a bending angle of a gripping finger within which the strips are encapsulated. Another aspect of a gripping apparatus includes at least one workpiece pressure sensor and/or at least one bending sensor, which are connected to a programmable controller and electrical circuit to automatically determine a characteristic of the workpiece.