Soft sensored grippers in assembly process

The authors discuss the problem of assembly task realization using soft sensored fingers. Because the object grasped with soft fingers can move with respect to the gripper if an external force is applied, a change in the pressure corresponds to a change in the object position. This property of passive compliance can be very useful in assembly operations. An approach to the realization of an assembly process using soft and sensored grippers is proposed, and the resulting problems are discussed. Experimental results on realization of a simple peg-in-hole assembly task when the proposed control strategy was applied are presented.