Enabling to learn for force sensing: A coupling-decoupling under-actuated gripper with multiple-DoFs

Huixu Dong, Jihao Li, Keqi Zhu, Haotian Guo, Guodong Lu, Grasp Lab of Mechanical Engineering Department, Zhejiang University, Robotics Institute of Zhejiang University, The State Key Laboratory of Fluid Power and Mechatronic Systems at Zhejiang University

The International Journal of Robotics Research

Published online on October 31, 2025

Abstract

The International Journal of Robotics Research, Ahead of Print.
Under-actuated robotic grippers have commonly appeared in industrial and logistics applications. However, existing grippers exhibit several main issues, such as low payload, insufficient force sensing and weak grasping stability, hindering their broader ...