Haptic Sensing in Compliant Robotic Manipulators for Robust Grasping


This project proposes a compliant gripper with haptic sensory capabilities to harvest strawberries without bruising them. Different manipulators are compared and quantified based on cost, complexity of implementation, capability, robustness, and control complexity. Adding haptic sensors on robotic harvesting manipulators are demonstrated to increase grip effectiveness, especially with regard to strawberry variability in size and shape.

Additional Resources

  • Deimel, R., & Brock, O. (2015). A novel type of compliant and underactuated robotic hand for dexterous grasping. The International Journal of Robotics Research, 35(1-3), 161-185.
  • Han, K. S., Kim, S. C., Lee, Y. B., Kim, S. C., Im, D. H., Choi, H. K., & Hwang, H. (2012). Strawberry harvesting robot for bench-type cultivation. Journal of Biosystems Engineering, 37(1), 65-74.
  • Shih, B., Drotman, D., Christianson, C., Huo, Z., White, R., Christensen, H. I., & Tolley, M. T. (2017). Custom soft robotic gripper sensor skins for haptic object visualization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 494-501.

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Meet the Researchers


Joshua Pelz
Mengxi Ren
Tong Hao
Siyu Wang

UC San Diego Graduate Program

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