Batanai Alistair Chimuka

Data-driven contact-state estimation of an endoskeleton-reinforced soft pneumatic gripper using sigmoidal pressure–bending response analysis

Soft robotic grippers are uniquely suited for handling fragile objects, yet reliable contact-state awareness remains challenging due to sensor noise, signal drift, and limited interpretability of current approaches. This study presents an interpretable two-stage analytical pipeline for contact estimation of a pneumat...