Understanding Preload Force for Grasping Objects with Different Stiffness Using Sensorized Suction Cups

The ability to grasp objects of varying stiffness is a crucial skill for robotic manipulators to perform tasks in real environments. Sensorized suction cups have been shown to be effective in grasping objects with different stiffness by measuring the preload force applied to the object. In this study, we investigate the effect of preload force on grasping objects with different stiffness using sensorized suction cups. We conducted experiments using sensorized suction cups to measure the preload force applied to objects of varying stiffness. Results show that the preload force depends on the type of material, and it increases with the increase of the stiffness of the object. Those findings provide valuable insights into the design of robotic manipulators that can effectively grasp objects with different stiffness using sensorized suction cups.