Nondestructive Dimension Sorting by Soft Robotic Grippers Integrated with Triboelectric Sensor

In smart logistics, traditional manual sorting and sorting systems based on rigid manipulators limit the warehousing development and damage the goods. Here, a non-destructive sorting method based on bionic soft fingers is proposed. This method is implemented by the soft robotic gripper (SRG) for grasping of the breakable objects, the Bend Recovery triboelectric sensor (TES) for size sorting of the objects, and the signal processing module. In the fabrication of SRG, the silicon rubber is prepared by controlling the material synthesis process, and its Young's modulus is 600.91 kPa, which is comparable to the Young's modulus of skin tissue. Also, the maximum input pressure of SRG is 71.4 kPa. The TES has a linear relationship between pulse number and sliding displacement, and its resolution is 3 mm. It induces pulse signal sequences to quantify the SRG bending state and thus realize the size sorting of objects. Additionally, a nondestructive sorting system based on TES and SRG has been developed for fruit sorting (e.g., apples, oranges), enabling nondestructive grasping and accurate sorting. Its sorting range is 70-120 mm, and the sorting accuracy rate is up to 95%. This work also provides a way for the application of SRG and triboelectric sensors in the sorting field.