Soft Gripping: Specifying for Trustworthiness

Dhaminda Abeywickrama, Nguyen Hao Le, Greg Chance, Peter D. Winter, Arianna Manzini, Alix J. Partridge, Jonathan Ives, John Downer, Graham Deacon, Jonathan Rossiter, Kerstin Eder, Shane Windsor

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Soft robotics is an emerging technology in which engineers create flexible devices for use in a variety of applications. In order to advance the wide adoption of soft robots, ensuring their trustworthiness is essential; if soft robots are not trusted, they will not be used to their full potential. In order to demonstrate trustworthiness, a specification needs to be formulated to define what is trustworthy. However, even for soft robotic grippers, which is one of the most mature areas in soft robotics, the soft robotics community has so far given very little attention to formulating specifications. In this work, we discuss the importance of developing specifications during development of soft robotic systems, and present an extensive example specification for a soft gripper for pick-and-place tasks for grocery items. The proposed specification covers both functional and non-functional requirements, such as reliability, safety, adaptability, predictability, ethics, and regulations. We also highlight the need to promote verifiability as a first-class objective in the design of a soft gripper.
Original languageEnglish
Title of host publication2024 7th International Conference on Soft Robotics (RoboSoft)
Number of pages7
ISBN (Electronic)979-8-3503-8181-8
ISBN (Print)979-8-3503-8182-5
Publication statusPublished - 17 Apr 2024


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