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The paper presents the development and testing of an adaptive robotic end-effector used for manipulation of sensitive objects such as fruits and vegetables. The end-effector uses Fin-Ray-structured 3D-printed fingers with embedded conductive 3D-printed sensing circuits, which give the end-effector capacitive touch sensing and bend sensing capabilities. The conductive 3D-printed circuit is connected to a control circuit consisting of a low-current DC power source and a microcontroller. As the end-effector finger is subjected to various forces and other external stimuli, changes in the electric signals that run through the conductive circuit of the end-effector finger are detected by the microcontroller. The electric signal is processed in order to provide real-time information about contact detection, finger position or gripping force. This information was used for process monitoring purposes and as feedback for the end-effector actuator

Adaptive robotic end-effector with embedded 3D-printed sensing Circuits