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Force-aware grasping is an essential capability for most robots in practicalapplications. Especially for compliant grippers, such as Fin-Ray grippers, itstill remains challenging to build a bidirectional mathematical model thatmutually maps the shape deformation and contact force. Part I of this articlehas constructed the force-displacement relationship for design optimizationthrough the co-rotational theory. In Part II, we further devise adisplacement-force mathematical model, enabling the compliant gripper toprecisely estimate contact force from deformations sensor-free. The presenteddisplacement-force model elaborately investigates contact forces and providesforce feedback for a force control system of a gripper, where deformationappears as displacements in contact points. Afterward, simulation experimentsare conducted to evaluate the performance of the proposed model throughcomparisons with the finite-element analysis (FEA) in Ansys. Simulation resultsreveal that the proposed model accurately estimates contact force, with anaverage error of around 3% and 4% for single or multiple node cases,respectively, regardless of various design parameters (Part I of this articleis released in Arxiv1)

Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing